I could be wrong, but if the truck has never been titled wouldn't the factory warranty start when you bought it? In other words, wouldn't the bumper-to-bumper go to 42,000?
IMHO I really wouldn't mind if the truck had 7,000 miles on it. You won't start getting the best MPG until later anyway. With mine my MPG started going up around 30,000 miles.
If you want to negotiate an ESP with them that is one idea, just keep in mind that there are Ford dealers online (Troy, OHIO) that will get you to 125,000 for under $2,000.
Maybe get the maintenance package thrown in so you don't pay for oil changes for the first 45,000 miles.