That's what I am working on. Trying to find an inexpensive tool is the challenge. I now have some newer sensors from a 2017 Tundra in the TRD Pro wheels and all the shops I have gone to cannot read them. So they are either inop or not in the scanning tool configuration files yet. I put a call into the Toyota dealer to setup a scan and relearn appointment.
Next I will ask that they provide to me the actual sensor ID's. Then take my programmables to a discount tire and have them program the new sensors with those ID's and install them on my second set of wheels. Then every subsequent set I use will get the same ID's also.
Need:
Programmable sensors - I sourced mine from Advanced Auto, Schrader 33000
Read/program tool - Schrader or Bartech ($$$) Optional, only needed if you want to do the reading/activation/programming yourself
Written record of your sensor IDs
Perhaps if you had a Techstream tool this would be a non issue and you could get by with just a TPMS reader tool ($).