Pet insurance for my dog?

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I recently heard that you can get insurance for your pets so you just have a co-pay when you take them to the vet or get reimbursed by the insurance company to some degree, but I've heard that some are much better than others. I have a boxer/american bull dog mix and she's about 5 now. She's not in bad health, but I'd like to look into this. I'm wondering if anyone has insurance on their pet(s) and by what company. How do you like it/dislike it? What is the cost? Is it worth it? What company would you recommend...or advise me to stay away from? Thanks!