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Ordering new TPMS?

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Hello all,

Currently have 22" sport tires on that acted like a sled in the snow last year. I just purchased the 20" OEM rims and Nokian R3 tires to go along with it for the winter.

My question - I am wondering what other owners with 2 sets of tires have done for the TPMS? I am told from the tire vendor that they can sell them to me and program them for $80ea. From a quick google search I hear that the OEM TPMS from Tesla costs $800 for 4! I thought that was a bit steep. I also hear that Costco sells them for $40. I am wondering what experiences you have had in purchasing a 2nd set of tires and buying a new TPMS. From someone who knows nothing about programming a TPMS, is it something simple that the local tire vendor can program or if they do so will it have compatibility issues?

Thanks!