re: Should I refinance?

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PMI will kill you if you don't have 20% equity

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This, PMI on a RD loan is really low in comparison to traditional and extremely low compared to FHA.

However, you pay that the life of the loan. Like others have said, if you want the benefit of 15 year vs 30 year, then just make extra payments until you reach that 20% threshold. Then, sit down and see what you options are then.

like others have said, your rate is fairly low, once inflation starts to creep up, your rate will look even better, getting to a point that its best not to pay off earlier because your maney can do more work for you elsewhere