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Hi and welcome!

TPMS is set up already, however, if you adjust the air pressure in your tires then you should push the reset button as per the owners manual.
 

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If not already done when you brought your RAV home, check the tire pressures while they are cold, preferably first thing in in the morning before moving your RAV, since the pressure is set at 40 psi at the factory for shipping purposes and dealers sometimes overlook this in dealer prep. Ordinarily you should not need to be concerned about the TPMS unless your tire pressure goes below about 28 psi, and ordinarily it's not necessary to reset the system when adding air.
 

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I got a '15 XLE in January, also from Japan and it has a TPMS reset button under the steering column.
 
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