I had the same problem. There is no law on the books about selling an RV with recalls that have not been done. In my case, Workhorse would not do anything except pay for the new calipers,fluid and the labor to install. My rotors were not cracked, just glazed over. Since then, I have found out that I should have just had the new calipers installed and that is all. The service center said that I needed new rotors. I learned an expensive lesson but at least I now have all new brakes.
After all of this, I did talk to the Workhorse district manager. He said most people in my situation need to just replace the calipers, fluid and drive off.