My ball joints were completely worn out at 63,000 miles and probably long before that due to my extreme tire wear problems (alignment always checked out fine). From what I have learned, the OEM ball joints, track rod, connecting rods, etc. are all junk. I have heard of others just skipping the warrantee step just so they can get the superior components. I have heard a lot of good reports on the Moog, and the upper ball joints are greasable, which should be a big improvement by itself.
It's hard to say whether you should or should not use the warrantee to get yours replaced (at least the price would be right). But chances are, you'll be in the same boat in a couple of years. I wonder if your dealership would give you a warrantee on just the labor if you supplied the aftermarket parts?
I added the DSS as a precautionary item. I have heard of too many steering boxes going out, and the DSS does remove much of the stresses that the box has to take.