Well after 18 months, I got the letter a week or so ago. I went to the dealer the same day to get the parts ordered. Parts came in a few days later and they got me an appointment on the books for this past Wednesday. They said roughly 3 hours give or take, so I said screw it and figured I'd bring my ipad and entertain myself for a few hours. I threw in an oil change and rotation while I was there figuring it'd only add another 30 mins or so.
After 3.5 hours they handed me my keys and checked me out. The service advisor runs over to me saying they forgot something and it'd be a few more minutes. 2 hours later....I'm "done". Drive down the road, check engine light came on. Had to drive back and have them clear the "ton of codes" it was throwing (which they attributed to the reprogramming). After another hour or so, I was on the road again.
But woo, parking sensors work!