Hensley confirmed it's a $517 fee to purchase the Lifetime Warranty, which would make me eligible for the exchange program.
I'm looking at a $400 set up that's about 5 years old from someone and they appear to have the straight stinger with no offset. I need to measure to see what I need, but I hear I may need new brackets as well. I just don't want to get a good deal, but then have to drop another $400 or so to make it work. Granted even at $800 it's still a deal for a Hensley, but as of now it's more of a want than a need.