Spongy Brake Pedal & ABS Actuator

[Mid-TN Genesis]

Friends,
I have a 2012 Genesis sedan with 21k miles. About 1k miles earlier it developed a very spongy brake pedal. You have to mash the full pedal travel to get braking. Also, I've noticed that you must press the pedal quite hard to enable starting the engine. The dealer just replaced/bled the brake fluid, but it is no better. The dealer indicates that this model car has had an issue with the anti-lock brake actuator going bad. Says the part costs about $1,800 and I am out of the warranty period.
What's your experience with this issue?
Will Hyundai participate in replacement costs of this actuator as it seems to be a considerable safety issue?
Any advise?
Thanks!

 

[Ambush]

That is a recall (should be at least). This happened to me as I was SCARED to death! They should pay.

 

[Mid-TN Genesis]

Update 31Jul18 (one week later)
I learned that the local dealer had performed the brake fluid change and HECU diagnostics some time back. I was unaware of this work. I'm starting to think that this may have been the start of the spongy pedal. Regardless, the HECU checked out fine at that time.
Fast forward to present. The brake fluid change of a week ago did not improve the spongy pedal at all. So, I left the car for several days so that they could do the complete HECU diagnostic and see if Hyundai would work with us on the repair. This time the dealer did the complete 14-page diagnostic including all the computer controlled actuation of the HECU. During this work the technician heard the air purge from the brake system. The brake pedal stiffened up just like new. They let the car set over the weekend and reconfirmed that the pedal was OK on Monday morning. The HECU checks out fine and the breaks work like new. Happy camper here!
Perhaps the break fluid exchange at the time of the initial HECU diagnostic check caused the air in the system. The more diligent work of recent corrected the issue. Super pleased with the way the local Service Manager worked with me on this issue.