I just got a second set of tires and they do not have sensors. It is my understanding orange electronics makes sensors that will clone the id of the sensors already programmed in your vehicle. No reprogramming required.
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I was not 100% sure either, so I took it to a dealer and inquired if my vehicle was affected by the service bulletin. They charged me $129. I figured if it was impacted by the bulletin, it would probably get worse... and Toyota would be paying for less of the repair if I waited.