As others have stated or implied, this type of thing does happen occasionally with all makes of cars, and for the driver who does not know how to deal with it, the problem can be scary. As PvtPublic stated, your vehicle still had brakes, and it only lost the power boost effect that makes it easier to apply the brakes.
Despite the safety-related nature of this problem, unless there is an actual recall of the same model vehicle (with appropriate serial numbers and dates of manufacture), there is no way that any manufacturer is going to cover this type of defect after at least 5 years have elapsed.
Just to give you some reality on this topic, EVERY 1953 Buick with the optional power brake system had a defect in the system, due to poor design. This defect caused the power brake booster to–literally–suck the brake fluid out of the master cylinder under certain conditions, thus leading to no brakes at all. However, fewer than 100 Buicks actually lost their brakes due to this bad design, and because there was no NHTSA at that time, no recall was ever effected on these cars.
Since 1953, we have come a long way in terms of both vehicle design and enforced recalls, but unless there is a significant number of other Highlander owners reporting this defect, no recall will take place. As was suggested, you should report the incident to NHTSA, via their website. Even if a recall takes place a couple of years from now, you could be reimbursed for the repair costs that you recently paid.