In my experiences, most companies / attorneys just want to scare you. They dont want to pay large amounts to get a domain from WIPO. But if I have a domain that is making really good on PPC and is a Trademark, I always do a private registration. But sometimes I get contacted by the attorneys before i see how good the domains are doing and can justify doing a private registration.
I had some domains that were trademarks of a big travel agency and did not have a private registration. I had these domains parked at SEDO. First I got an email from the attorney and just did not respond. Then I got a certified letter. The day I got the certified letter I transfered the domains to a third party. I waited for the name servers to reslove and then moved the parking to Domain Sponsor (under my account). I emailed the attorney saying I do not own the domain anymore and sold the domains in bulk. The third party (who is a friend) never got contacted by the attorneys, but after a few months, he transfered the names back to me(in a differnt domain register)and I did a private registration. I never heard from them again (over a year has passed).
Just recently I was contacted by the Expedia attorneys (Not the same travel comp in the previous comment) and they saw i registered the domain ExpedRia.com and had it parked at SEDO. I was contacted within 2 months of registering this domain. I was only making about $1 per month on PPC and it was not worth doing a private registration. So I just gave them back the domain. Months have passed and would you believe it they still left it parked at SEDO. I am still getting the PPC on it.. What a bunch of idiots. Just goes to show when you get so big how much slips thru the cracks.