TPMS issue

The sensors have a battery life of about 7 years or so under normal use so with that mileage I would say it's likely that the batteries are exhausted. However if you have a TPMS tool that can activate the sensors, most will report the battery status during that scan. Then it's either replace the sensors or ignore the light and just keep track of the tire pressures.
If you opt for new sensors it's possible to replace them by only breaking the tire bead on the valve stem side, then reaching in and removing the screw and the sensor head, then install the new one and air the tire back up. Then each sensor has to be initialized into the system using a TPMS tool and a scan tool to write in the numbers. However if your tires are worn it's a good time to do the entire job with new tires sensors and stems as they would need to do the initialization then anyway.

You need to deflate them then break the tire bead on the side where the stem is, then you can get inside the tire. Depends on the scan tool, if it can read the sensors directly without being connected to the vehicle then it should work, The information entry can be done with many tools, but not all of them can read the ID numbers from the replacement sensors.