That is correct. But interestingly, the Congress has the ability to remove justices from the bench for “bad behavior”. The Constitution does not state that Supreme Court justices are in place for “life”, but for “the duration of good behavior”. Congress has the legal responsibility to identify “bad behavior” and impeach or otherwise remove justices from the bench. I believe that a sound case could be made for “violating the Constitution” as being bad behavior.
Every Supreme Court decision that goes beyond the enumerated powers of the federal government is a violation of the Constitution and therefore, bad behavior.
You are right that the founders thought that impeachment would be a check on the judicial branch, but what you are describing never happened and I can see no way for it to happen. Any thought on how to bring this about?