To my knowledge they don't do payment plans, but it doesn't hurt to ask.
We had a similar thing happen with our XR. Took it in for something, turned out there were about 6 other things wrong with it! The biggest one being that it needed a new fuel pump ... $1400 We ended up selling it and buying the Rav. It was going to cost us an arm & a leg to get everything fixed.
Hope you can work something out.