2010 disabled - P0A94 Code and "Check Hybrid System" message

I also had the P0A94 on my 2010 with 172,000. It happened last week. The dealer called and said it was the IPM which as m.wynn said is covered for 15 years and unlimited miles. They had my car for 1 week. They had to wait on parts and said it is 19 hours shop time. Picked my car up yesterday They covered the whole thing. I asked what it would have cost if not covered. They said they could only bill Toyoya $2100, but if not covered, it would have been close to $3000.