Toyota Highlander steering intermediate shaft

My Toyota dealer has recommended replacement of the steering intermediate shaft and alignment thereof on my 2004 Toyata Highlander with 50,751 miles. I have no indication from the steering of the car nor other indication of problem. Is this a safety concern? My dealer says it is not yet a safety concern but may be in the future.

I know Camry’s of the same generation have issues with the int shaft. The symptoms are clicking while turning. You can sometimes feel it in the brake pedal. Do you feel/hear anything while turning?

Also is this covered under warranty, or is there a recall on this?

I do not feel or hear anything while turning. The dealer told me it is not covered under warranty and he said there was no service bulletin from Toyota about this matter.