Thanks for the help folks, and the recommendations.
I did the brakes a few months ago, so figured I'd take a shot at this this past weekend, since it's not much more than re-doing the brakes, and the weather was nice. Plus, the money savings motivated me as well.
Purchased the new sensor from Autozone for $72. Took me about 4 hours to do one side. Actually pretty simple fix, just a pain in the butt getting the bolts to break loose on the calipers, etc.
The dealer said they don't replace the sensor because they break off in the hub, so they just replace the whole hub. The sensor I removed also broke off in the hub, but I was able to easily pull it out. I can't believe dealers scam people so bad, and can sleep at night. Replacing the hub for no reason, just because it gains them a whole lot of profit, and takes them only 5 minutes longer.
Anyway, so I replaced the one side, test drove the car, and the problem seems to be fixed. I'll still hold on to the other sensor I bought for a week or so, to make sure the problem doesn't show up from the other side, but...so far so good.
$72 + 4 hours of my time...is much better than paying the dealer the $1,400 they wanted to charge.