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The dealer is wrong. Ask highway patrolman what he will look at after an accident. It's normal for them to test the brake pedal after a crash of any importance. If the pedal goes too low, guess who's at fault?
Usual cause of a pedal that 'pumps' up is air in the lines.
But it can mean a dying master cylinder.
There are posts of people running intersections, etc. in this forum. Master cylinder failure is a known problem on some of these trucks.
My truck came from the dealer with a replaced master cyl, before it had 5 miles on it. They know some are bad.
Chris