I have a pair of VR-S/1 subs, which mate nicely with my VR3.5. I must say the support from Albert at VSA has always been impressive to me. Al was willing to work with me to replace, but, I went another route.
One of the subs went down, loud hum and distorted sound. I seemed to me the sound deteriorated some weeks (months--too busy to recall) before failure. After removing the module, I saw two PS caps were clearly blown. My go-to tech nearby replaced the main PS caps and all the other caps on that board for a reasonable price. Sounds as good as ever. He predicted the other amp module would also go. Sure enough, I just inspected it and the caps are bursting. It is now in the shop for repair (usually FAST turnaround--like 2 days!). Higher rated Panasonic caps were put in all around.
This path might be an option for those with these subs. If pictures are deemed helpful, I could post them.
I guess this issue is not uncommon, and it's nice the fix is straight forward. Of course, replacing the modules is also an option, and VSA will work with you to do so.