The ECU learns only when you upload new sensor IDs. Most likely your sensor is just getting jostled into working again. It may have some corrosion somewhere that's impacting it.

I drove 8 months with mine just flashing, eating away at me until I couldn't stand it anymore and bought new ones. Denso sensors are really good. Mine were original 2003, came with the car, and only one went out last December.

I thought about putting some tape over the flasher until I learned that the other four can still trigger the static light, indicating a low tire. In my previous reply I show how you can just lower tire pressure to find the problem sensor. If it's a steady indicator then it's one of the tires that has a working sensor.

A couple of nice things about owning that tool. I can check tire pressure and tire temperature with it. I press a button and it takes a few seconds to get a readout. It also shows the batteries' condition so when it comes time to buy new tires I can have them put in new sensors before I have a problem, like last time.

Keep monitoring. You have the knowledge now on what you can do and know that there's no rush to do anything.