Hello All, recently while I was driving on the highway, I heard some knocking noise and the car went into limp mode. I towed it to a Hyundai dealership. They diagnosed that is supposedly faulty EGR valve and whatever they need to replace. They quoted me over 2K. First and foremost it sounds a crazy amount and then I concerned if something else is the issue and they come with more $$$. Attached are the pics.

Any feedback or advise is greatly appreciated.