I would say that the deal you received is fair. I would also like to clarify a few things. You do not have to go back to your servicer if you are over 105%. I have closed HARP loans at 350% loan to value. I have also closed many HARP loans without escrow. Most lenders follow HARP guidelines so if you don’t have PMI or escrow on your current loan then you will not have PMI or escrow on your new HARP loan.
Did you do an appraisal for your loan? If not, you always have the opportunity to work with another lender. At 3%, based on current rates, you should have at least .5% available as a lender rebate to lower your closing costs. Don’t know what state you’re in, so can’t gauge title costs, but can tell you that there should be little or no lender fees at 2.875%, and at least some lender credit for closing costs at 3.0%. Bigger your loan size the more likely I would be to work on a new loan rather than close the current one, given the higher rates and fees you’re apparently paying.