Acura RSX S clutch is too high

My RSX S (manual 6 speed) recently went in to the dealer for repairs. They told me the clutch was engaging too high and that I would need a new clutch since the high engagement was indicating it was worn. They want to charge between 1500 - 1800 dollars for the repair so I want to make sure it is really necessary or if it might just be an adjustment that is needed.

The clutch is quite high. As I release the clutch from the floor it doesn't begin to engage until the pedal has come up 3/4 of the way and seems to fully engage nearly at the end of the release of the pedal. I don't see, hear or feel any slippage and the tacometer isn't running high for the speed I travel at. In other words it runs normally.

Should I have someone else look at the car? Is the information the dealer gave me correct that the clutch would definitely be worn based solely on noticing the high engagement point?