Maybe, but not so fast.
I bought an '88 Cougar off the show room floor. At 10K miles, the catalytic converter rattled. There were loose parts inside of it. Ford replaced it under warranty. At about 20K miles, the new converter rattled. Again, same loose parts. I just decided to live with it. At about 50K miles, the muffler rotted away. I took it to Midas saying "I need a new muffler and tail pipe." Their reply was "We'll put it on the hoist and we'll tell you what you need!"
They came back into the waiting room with a complete estimate, including the cost of a new catalytic converter. Their estimate was for the complete exhaust from the exhaust manifolds to the end of the tail pipe. I politely told them to replace only the muffler and tail pipe, which they did.
About a year later, I got a recall notice from FoMoCo on the catalytic converter. They replaced it on their dime and I had no more problems with it again. Dealers don't always take customers for a ride, especially on parts that have a warranty way beyond the normal wear and tear of maintenance parts.