for 20/21 runners you need to buy 42607-48010 part numbers. for programming them, it can be done through the menu inside your main cluster. go under TPMS setting there is an option to program.... once you do that you need to drive in a particular pattern. 4R will reciter the new sensors successfully. my input is based on my experience with the winter tires on my 2020 TRD OffRoad.

i also have a 2019 TRD pro and a 2010 Limited, TPMS system in 2019 and older model is different.... where you actually need to program the new values. I bought a tool to do this (about $100) that I use every time I do the tire change - winter to summer and back.