Do I need to get the extended warranty on a 2019 TRD Sport?

The 2 profit centers for most car dealerships are the service bays and the F&I office. They push EW's for a reason...and it's not for your peace of mind.
Look at it this way, you won't need the extended warranty for 3 years or 36K miles, on a new vehicle. If the vehicle proves to be problematic in the first 36K miles, the likelihood of you keeping it is probably pretty low....so you won't need an extended warranty after all. If you love the vehicle and it is problem-free, you can buy an extended warranty typically right up to the time the factory warranty runs out.

 

I hear you... my first car a 1971 Chevelle I bought from my neighbor who is a lifetime mechanic, lesson learned...

 

Exactly this.

 

Another thing to consider is if you trade or sell out of your vehicle before the EW has lapsed. I recently traded-out of a '17 F250 and I admit that I allowed the F&I guy to persuade me to purchase a 5/60 EW for $600. At the time, I intended to keep the truck for a long time so I broke my own rule for a pretty good deal as I checked with some well known, online Ford dealers, who sell warranties in volume and couldn't match the price, not even close. The truck had 37K miles at trade time and it has taken 6 weeks, 2 letters and 3 phone calls and I still don't have the un-used funds back. I have no doubt they make cancelling an EW difficult for a reason too.