I bought an Accent used with 11k miles on it and knocked roughly 2k off the price of the new car (which was just a little under 20%). You can bet I did not care at all that there were 11k miles on it. If anything, it proved nothing was immediately faulty.
I have driven it almost 70k miles since then and, perhaps overcautiously, maintained the warranty because the car is necessary for work. I have had no problem whatsoever. I actually can point out the tires on this thing are hilariously cheap because tiny (I have to drive a LOT).
The warranty is set up so scheduled oil changes are free and more complicated (read: hilariously expensive) checkups are 120-180, meaning $75 oil changes at the dealership averaged over maintenance ticks.
Do your own oil changes and get a few maintenance things done at Valvoline occasionally and you save $60+ every maintenance tick, then $300-500 every major maintenance tick. Basically, you likely have 3 or 4 years to set aside money, and if you only set aside what you save, you would have around 4k before anything likely broke on the car, leaving you up the savings of buying used and compounding your maintenance fund while it waited for something to break. If nothing broke, you'd be up 6k+. If something broke, it's comically unlikely you'd be down against buying new.
Know what you're getting if you get a car loan. A car loan of 10-15k with 1.49% interest is probably a great idea. With a $600 origination fee...? Actually still pretty cheap money, but read the fine print.