The manual describes using this special tool for the required TPMS initialization every time you switch to different wheels with TPMS monitors: Kent-Moore J-45295 TPMS Initialization system which is $335 (ouch!).
See it at
Kent-Moore J-45295 TPMs Initialization System
Does anyone else know of a tool that works on our cars that's cheaper? I was thinking of $100 or less (wishful thinking)