Well my first question is whether you've actually checked your tire pressure? And I don't mean with one of those worthless pen-type gauges, but with a decent pressure gauge. If your tires are out of tolerance, the warning is completely justified.
The older S's, mine included, had an older style TPS that was very problematic. Multiple owners have reported that Tesla needed to replace all 4 TPS units and then main receiver module for the errors to go away permanently. That was my story, too. But you should already have the new TPS units, so I'm really curious what the tire pressure is/was when the TPS said there was an issue.