I paid $53 per sensor from Tire Rack, but they were the exact same as the OEM version. If / when you replace the TMPS sensors, you also have to update the truck's own board computer with the serial number of each new sensor (write the down before they are installed)
I bought an ebay "MINI-VCI" cable for the OBDII port (See
here for more info on the cable)
and followed
the instructions in a thread on a lexus site on how to download and install a version of the full toyota "Techstream" software. This software let me update the TMPS info myself, and it gives me access to lots of data, info and diagnostics about the truck.
If you don't get a cable and get the software running, then you'll have to pay a shop to program the new sensors for you.
The sensors just screw in to the rims... they are dog simple to mount while the tires are off.... but I guess it depends on the shop as to what or how much they will charge you. If they have to program the sensors (instead of you doing it yourself) then they will definitely charge you.
It took me about 45 minutes to install the Techstream software and make the suggested changes in the thread that I linked to, to get the software working on my computer. If you're not very comfortable working on a windows box (like in the cmd shell), then the installation might be a bit daunting. It depends on your skill level and familiarity with PCs.
I personally like the TPMS on my 08 limited. In techstream there are settings that factor in the outside temp, and whether the tires are hot or cold. So the TPMS works very well for me.
I previously had an '04, and it was a real pain, because everytime the weather got cold (winter cold), the TPMS light came on, because the cold weather lowered the pressure in the tires (I think that's called Boyle's law, if I remember correctly).
However, on my 2008, Toyota made the system MUCH smarter, so it knows if the low pressure is due to it being cold outside, and it doesn't bug me by showing me the low pressure warning. It's much, much better.
-Phil