F150 TPMS Re Learn

First vehicle with TPMS. 2019 f150, and I bought a set of winters and rims off a 12th gen. Will the sensors just start working when I swap the wheels over for winter, or will I have to take it to a shop to have them programmed.

And then when I swap back in the spring, will I have to do the process all over again with my summers?

Basically trying to figure out if I have to take it to a shop to get the sensors to work each year, or if I just buy the tool myself.