yes they'll do it underwarranty. if you need a new ball joint though. you get new control arms in the recall. just hope they find play. if you wanna check it your self lift the front of the car and see if you can wiggle your tire vertically (up and down) if it wiggles your ball joint has play. shake it left to right as well if it's the same amount of play than it's a wheel bearing if not than go get ball joints than check it left to right again. usually horizontal (left to right) play is the tie rod. it would be hard to tell either if your bearing was messed up