I ended up in the same spot - requiring a new TPMS sensor that had fragged in my left front tire.
Long story short - I decided to delete the TPMS (there are instructions for bypassing the 'dummy' gauge light on t4r.org somewhere) and just use my trusty tire pressure gauge to check pressures regularly.
Obviously not a direct answer to your question, but it's a heck of a lot cheaper and deletes a system that's more of a pain in the arse than it's worth (IMO).
Need more details.
Did they say why? Did you have a blinking TPMS dash light? If you had a solid light then the TPMS' are doing their job telling you one of your tires is low on air.
A blinking light indicates a system issue which may be a faulty TPMS.
Were you getting your tires changed? Did they break one by not following the OEM recommended method of removing the stem? Or are they trying to upsell you?
What year is your T4R? New stems require initialization in the ECU. Are they doing this as part of the quote?
You can get new ones on Ebay or online Toyota parts dealers.