Posting for the posterity of the forum. BLUF: replaced with VDO sensors from Rock Auto and did not need to program the sensors or code them into the truck.

I needed to have at least one of my TPMS sensors replaced - blinking tire pressure light followed by the light staying lit. I ordered the VDO clamp on sensors (replaced all 4) from Rock Auto for the stock aluminum wheels. At first the shop wanted $208.00 to replace *and code* the sensors, and also tried to convince me Rock Auto sensors would not work and I needed to buy the ones they had. After doing some research I realized the sensors do not need to be coded to the truck, we just drive for ~10 minutes and the computer relearns the new sensors, and that the VDO sensors are OE. I explained this to the shop, who did their best to convince me they would have to code the sensors or I would have to come back to have them coded to the vehicle. After a follow up discussion they offered to replace sensors and re-balance the wheels for $25/wheel ($100 total out the door). After having the sensors replaced I drove on the highway and in less than 10 minutes the tire pressure light went off. All good, just hoping these sensors last as long as the original sensors.