TPMS

With OEM sensors you need to have the proper TPMS tool to do the registration of the sensors. The dealership or some tire shops should have the tools required. There is no way to do it without the tools though as the system needs to know the ID number of each sensor to work and that is programmed in through the OBD port. The process is sort of simple once you have the tool. You use the tool to activate the first sensor, it reads the ID from the sensor and you enter the tires position. Then follow the directions on the tool as to which tire to do next. It erases the old IDs and enters the new ones.

That is the problem, many of the aftermarket say they can initialize sensors but then you discover they only work on their brand. In your case that tool should have a relearn procedure for the sensors but it won't allow you to add in new sensors. The TS601, TS608 and MS906TS all should do the job. However Toyotas can be fussy about the tools used with them because they use a different ID system.