It cost us in closing cost to refinance... but we ended up with 2.25%. It cost us about $6K. The lowest rate I've ever heard of anyone getting.
I was in a similar situation and wanted to refi and consolidate, but normal mortgage companies didn't want that small of a deal anyway. So I ended up doing a deal based around a line of credit from a local bank instead. You can have a second mortgage pay off a first mortgage, I believe.
I did it in the spring at our credit union.
$600 closing and 3.24% for 15 years.
No escrow to mess with and the mortgage will never be sold.
Every biweekly pay I pay half the monthly payment and put money into an account strictly for taxes and insurance.
Not worried about carrying a mortgage until age 76.
Extra money will most likely do better in the markets long term.
If things go to total sh*t here in the Old Dominion, I will sell and move anyway and hopefully buy the next place for cash.