My 2019 TRD ORP has a sensor in the spare.
I bought an Autel MaxiTPMS TS508 to reprogram my ECU when I swapped in the new winter tires and wheels. When I told the TS508 I had a 2010-2019 4Runner it had me activate and read all 5 sensors, then plug it into the OBD II port and flash the data into the ECU.
Spare tires are not required to have a TPMS sensor according to the original 2005 NHTSA TPMS legislation.
NHTSA TPMS Legislation | Bartec USA
https://www.bartecusa.com/pdf/tpms-2005-fmvss-no138.pdf