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Are courses like Kaplan and Princeton review worth the cost or will the published books with sample questions adequate?
Depends how much you need to improve, and how good you are at studying on your own. Princeton Review has a free sample test (not sure if you can take it on their website or go to the school) so you can decide if you need it or not. (Quite likely Kaplan does as well.)
I think the books are more than adequate.