In our case, we knocked a significant amount off of our monthly payment by lowering the interest rate. So even if we pay for 31.5 years instead of sticking with the 30 years, we save thousands and thousands of dollars. Of course, we could put extra towards principal and cut our interest payment down even more, but we have a few unexpected things happen (mainly twins instead of a singleton pregnancy) that messed with our finances.
Since we have a VA loan, I can't tell you how many notices we get weekly telling us to refi at a higher interest rate.
So note to OP, if you can refinance, hopefully the interest rate going down will make you feel better about all those closing costs.
Also to OP, I don't buy the GFE is an estimate that ALWAYS goes up. I am pretty sure that a GFE is supposed to be just that a good faith estimate, not a low ball, bait and switch. That would make me mad. But then again,we had a fight with SunTrust and did not get results until we reported them...one person we spoke with actually told us that "thereafter" on a loan document doesn't mean "thereafter"

Yes, the banks need to charge fees, but sometimes they take advantage of people not reading or understanding the documents. (We found a mistake that was going to cost us hundreds of dollars a month. We called and spoke to the bank, visited the bank, etc. without any results. We were treated as idiots who just didn't understand how things work. After we filed the complaint, things were resolved in our favor.)