RCTA/Blind spot failure

My 2023 Sienna XLE has intermittent RCTA and blind spot failure. My Sienna has 52k miles and a factory extended warranty to 100k miles.

The dealer says the mount that is behind the rear bumper must be replaced. However, it would be covered by the 3 year, 36k warranty but not my warranty. They said they have had several cases of this and Toyota always declined the warranty coverage under extended warranty.

Anybody else with this situation? Particularly if Toyota covered it. What did you do to get it covered?

AI tells me this is a known problem that Toyota fixed in 2025. Anybody know about that?