Toyota, Subaru, Mazda and BMW agreed to pay $553 million to settle consumer claims over recalled Takata air bags in multidistrict litigation consolidated in Miami federal court, plaintiffs counsel announced Thursday.

“This agreement achieves our goals of educating consumers about the urgent need to have their recall remedies completed while providing them compensation for their economic losses,” said lead plaintiffs lawyer Peter Prieto of Podhurst Orseck in Miami.

Takata air bags were subject to the largest automotive recall in U.S. history, affecting more than 42 million vehicles. According to the class action complaint, the air bags can rupture when they deploy, expelling shrapnel into a car that can maim or kill people inside.