VSC, ABS, and that exclaimation mark light - went away after parked in a garage

HI
It sounds like we had the same problem. The VSC , ABS lights went off. Took it to the dealer. $4000 later - this is what was on the bill
"diagnosed check engine light trouble code C1300 internal short in ABS acuator and damaged VSC ECU. removed and replaced ABS acuator and VSC skid control ECU. no additional labor for VSC ECU replacement per service manager. Vehicle was inspected by shop foreman.
We were initially told to just replace the acuator for $2300, and then told that ABS had short circuited and shorted the skid control ECU, and that had to be replaced too, which was an additional $1500 + tax.
Does this sound right - Do we have any recourse after the fact?

 

/sigh/ just had almost the same experience with my 2009 Prius yesterday, on an extremely hot day. 34k, and starting to wonder if I need to shell out for the extended warranty. Very disappointed - and the dealership got (undesignated) codes but thinks it's driving fine now and "aren't sure what's wrong."
UGH!