Do I have pay for lenders errors made on the Good Faith Estimate and Closing Documents?

My mortgage company made a huge error on the Good Faith Estimate and Closing Documents for the amount needed for property taxes to ensure that my escrow would have sufficient funds to pay the loan, taxes and insurance. My GFE and CD both show the lender made the error. After over two years have paste they want me to pay the two plus years of shortage. They could have notified me after the first year of shortage but didn't. After speaking with the lender on the phone they admitted they made the error. What are my options?

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