Not sure it affected UK vehicles. There have been a couple of member that had a noisy low pressure fuel pump replaced under warranty. If you are out of warranty then you would have to pay for a new part as there is no recall on this. Any new firmware would be chargeable by a dealer, they don't tend to update be default during a service, only to fix owner issues.
This thread also mentions the the high pressure fuel pumps which were recalled. Everyone should have had that done by now, but you can check here:
https://forms.toyota.co.uk/recall-checker?lexus=true