Yes.
My 2013 S had the original tpms, which only gave a warning if a tire was low.
When one failed,it tried to get Discount Tire to replace it. They used a version 2 tpms and it didn’t work at all. Tesla doesn’t like to replace one tpms, particularly the aging version 1, so they did a courtesy upgrade for me.
I now have the newer sensors, plus they upgraded the computer to allow display of all 4 tire pressures.