2015 Prius Brake Booster/Actuator Questions

Hi folks,

As of recent I've noticed that the brake actuator on my car makes the pressurizing sound every 10-12 seconds constantly during driving, and continues to do so for a few minutes after the car has been turned off; this is accompanied by a spongy brake pedal that allows me to peg it to the floor if I apply enough force. I believe brake actuator failure is a well-known problem on the 3rd gen Prius, and based on what I've read, the car qualifies for a free replacement as long as it has under 150k miles and the in-service date was less than 10 years ago. Is this correct information? If so, the fix should be covered by Toyota given that my career meets the criteria.

I checked the brake fluid level and it is slightly under the middle/normal line (pretty much in the center between the min and max lines) eliminating the possibility of a leak. I believe the actuator likely has an internal pressure leak, leading to the spongy brake pedal and the constant actuator sound every 10-12 seconds.

Thanks!