Hi,

I am switching over my winter tires to my summer tires and I have both OEM TPMS sensors in each set of tires. It is my first time doing the change wheel set function on my 4Runner 2021 Off Road Premium. I see in the manual that I am supposed to drive it for a certain period of time as it is registering the new TPMS sensors to my ECU.

The OEM TPMS sensor I bought is part number 42607-48010 which is for my 2021 4Runner. But I have been told that these sensors are not compatible with the change wheel set function on my year 4Runner and I would have to get the 2022 OEM TPMS sensors, part number 42607-53020 in order for this function to work.

Can you provide me information to verify if this information is correct?

Currently, I drove my vehicle with the summer tires for about an hour and it still states that it is registering my TPMS sensors, I just want to make sure that they will register at some point or would I have to get them manually programmed for my ECU.

I have never heard of such, when putting in new TPMS you must program them to the ECU. A dealer or tire shop can do this, each TPMS puts off a "signal" and they use a scanner to pick up that signal, and then program the ECU to look for that signal.
As far as i know, the ECU can only look at 5 wheels at a time in current year. I dont think it can be programmed to also see additional sensors for an additional set of wheels and i have never seen one "auto learn"

There is a procedure to "Initialize" and to "Register" a new set of TPMS sensors outlined in the owner's manual. For me, it took over 75 miles of driving once I completed those procedures before the new sensors were recognized. DO NOT have the tires that you just removed from the vehicle anywhere near the vehicle when you go through the procedures - otherwise the system will still be picking up the nearby old sensors and get confused.

I installed the 42607-48010 sensors in my new wheels and they work just fine.

Yes, you can take it to a tire shop and have them use a tool...or buy the tool yourself...to register the new sensors but it is NOT necessary.

I ran the part number through the Toyota dealer's web site and it confirms that these sensors will work with your vehicle:

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I installed Autel MX sensors on my Relations Race Wheels with TOYO OC AT3 tires, sensors must be programmed with the Autel programmer that I purchased.
Programmed before being installed on rims and tires mounted and inflated, once this is done then everything else is done from the display between the speedo and tach. So now when I swap out wheel and tires I don't have to do anything.
the mounted tires and wheels with either the Autel or Toyota sensors are automatically recognized and display tire pressure.

I purchased a set of 315MHZ T6 sensors for my 2023 from Tire Rack and had Discount Tires install in my extra rims with new Falken Wildpeak AT4Ws.

I simply followed page 432 in the owners manual to register the new IDs. It took about 30 min of driving before the pressure showed up on the dash display.

Worked for me without issue.