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I admit not having tried the TPM in the box routine, possible a low cost experiment.
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Don't bother. See above.
There are a number of work arounds that have been attempted, including that one.
One that has worked for some people is to keep TPM sensors that have already been registered with the car, in the pit area. You can leave them on wheels if you want. When you come in the car will 'see' them and you're good for another 30 - 60 mins. After that time has elapsed and the car has not seen previously registered TPM sensors it will warn you as above.
Here are some videos of some various tools as well as the procedure for using a TPMS tool to register TPM sensors with the car. Note the use of the T.I.P.S. tool...
YouTube - C6 Tire Sensor Diagnostics
YouTube - C6 Sensors and the TIPS or KTi tools
YouTube - Using a TIPS tool to register tire sensors
The Tire Inflation Positioning Switch (T.I.P.S.) Service Tool as shown in the video runs about $458.00.
Bartec also makes them and they're $400 through Lingenfelter, among others.