It depends on the details of the warranty, and what it covers.
Are you extending powertrain, bumper2bumper or custom?
For me, (And Ive worked for a dealership for a long time). Warranties come down to value, as to be honest, they CAN be good profit for a dealership.
Feel free to dicker the price of your warranty down, dont think its set price is out of thier control. And also look at the costs of 3rd party warranties.
Some people will tell you to stay away from these, but Coverage-One is more comprehensive than Toyota factory warranty, and MAY be cheaper. Shop it a bit and see for yourself.
Also take a look at what adding the cost of the warranty will do for your deal in way of Interest amount $$.
That being said, costs of repairs are on an increase, and with economic struggles the way they are, if you can AFFORD the warranty without problem, do it. It may save your bacon in the future, it will also give you major piece of mind as you drive your vehicle.
Camry's arent known for major issues around transmission/brakes/engine etc, but you never know. They are all just machines..