Update: I was able to replace the TPMS RDC Control Module with a used one I bought from a local parts recycler for $50 and it required no dealer programming at all. Plugged it in, turned on the car, TPMS light was gone. The important thing to know is your vehicle's specific part number and be sure to match it exactly or be sure that the part number cross references with the interchange part numbers listed on www.realoem.com when you look up your vehicle by vin#. Hope that helps!
Update: I was able to replace the TPMS RDC Control Module with a used one I bought from a local parts recycler for $50 and it required no dealer programming at all. Plugged it in, turned on the car, TPMS light was gone. The important thing to know is your vehicle's specific part number and be sure to match it exactly or be sure that the part number cross references with the interchange part numbers listed on www.realoem.com when you look up your vehicle by vin#. Hope that helps!