Honda Care will do 7 year 100K miles, but you have to be under 42K miles and under a certain age in order to be able to get a Honda Care warranty. I do know it does specifically say it covers the NiMH battery pack, though I'm not 100% sure it covers some of the other components.
Also, wherever you go try to haggle a bit. My local Honda dealer dropped about 25% off the regular rate. I didn't get an Insight from them, but I got my Element from them and use them for service sometimes. That kind of thing helps me feel warm and fuzzy, and makes them money in the long run I bet.
I've never purchased an extended warranty for any of my previous hondas. However, when I purchased my CRV new they kept pushing the extended warranty. Every time I said no the price fell from a beginning quote of approximately $1200. I walked out of there with a 100,000 mile warranty for just a few hundred dollars. Our CRV now has 46k on it and we have only needed to use the warranty once to cover the cruise control indicator light that went out.
Anyone know a good company that may offer an extended warranty for an 00 low mileage insight?