The Bumper-to-Bumper warranty coverage on your car–to the best of my knowledge–is 3 years/36k miles (whichever comes first) on every part of the car. If this is a 2007 model, you are past either of those milestones.
The other warranties on your car (100k Powertrain Warranty + Federal Emissions Warranty) will not cover components of your brake system. Ergo, this repair is not covered by any of your past or present warranties, at least to the best of my knowledge. You can double-check my opinion by referring to the documentation in your glove compartment.
All of that being said, there is no reason to take this car to a dealer, unless you want to pay an inflated price for what appears to be replacement of the power brake booster. Any competent mechanic can do this job.
Just describe the symptoms accurately, and–for your own good–do NOT take the car to a chain operation like Sears, Midas, Meineke, Monro, or Pep Boys. A local independent mechanic can take care of this repair at a lower cost than either the dealer or a chain operation.