There is a simple procedure to clear the TPMS codes.

1) Turn the ignition switch to ON(but dont turn the engine on).
2) Locate the TPMS warning check connector under the drive side dash. It is a single loose wire with a connector located under the dash next to the steering column. It may be bundled with the OBD connector in some model vehicles.

3) Using a suitable piece of wire, insert one bare end of wire into the plug; into the connector. Then take the other end of the wire that you just inserted and momentarily touch anything unpainted and metal on the car (ground the wire to the chassis.)

-you might still have to go for a short drive above 25mph, but in most cases it clear's it right then & there.