The dealer towed the car to their shop and did another inspection. Service writer called full of apologies, and said they had been wrong, and that I had actually needed a brake job. They will do the job and discount the regular 4 wheel brake job price, and eat the cost of the tow, the new caliper, rotor, bracket, and any other parts that failed on the right rear.
Always good to hear the shop did all that for you. Even if it wasn't their fault.