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They used to waive the final few months of the three year contracts if you upgraded. I do not know if they do for the new two year contracts. There is often an offer listed in the "My Account" section of the website letting you know any offers especially for you. You could also call Customer Service and ask. There are also sales occasionally.
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I guess the best answer is.. no.. prepare to pay it.
Some circumstances may cause them to do it, such as phone failures soon before the end of the contract, or special deals made with customer Loyalty, but not otherwise.