The inspection service on a 2001 is only an engine oil change and a microfilter replacement. All of the other fluids are considered "lifetime"
The extensive check that the dealer does though is a good thing. Its nice to have a trained professional go over your car and check the brakes, do a diagnostic check, check for any fluid leaks, test AC system etc. These are all checks that are done on an INSPECTION service. Whether or not that is worth $500 is up to you.
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