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You have to go to the dealer to get them paired with your vehicle. Most people on here will tell you that they will likely do it for free and take them 15 min. The TPMS kits that go in each wheel is a semi-permanent installation requiring them to replace valve core, cap, nut and o-ring (seal) each time. Google says these run you about $5-$10 each wheel.
With that said, it would hardly be worth it for the effort to have them removed from your current wheels in my opinion.
Also, another note: if your car has TPMS capability its technically unlawful to install tires without the senors in most states, whether you care about that or not
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