Paul: For the last several years, we have always taken out travel insurance--the benefits clearly outweigh the minimal costs. On our last trip to Europe, this past September, we used the insurance twice. Once for a four-to-five hour delay in our train travel between Linz, Austria and Munich, Germany due to German border crossing closures (95% of the passengers on our train were refugees / economic migrants) which caused us to miss our flight from Munich to Copenhagen. Our travel insurance reimbursed us for the cost of our pre-paid tickets and the cost of replacement tickets on a later flight. A few weeks later, I had my backpack and CPAP machine stolen while on a train between Amsterdam and Brugge. Again, our travel insurance came through and reimbursed me for the cost of the stolen items.
These reimbursements notwithstanding, we have the insurance in the event we have to either cancel our trip before departing or if we need to return to the US during our trip. Additionally, there is significant peace of mind knowing that any catastrophic event is covered--particularly if having to be medically evacuated back to the US. We always consider the nominal price of the insurance as part of our normal travel expenses.
We use Travel Insured through USAA.