Depends on which type of TPMS your Yaris has fitted & you didn't give the age of the vehicle.

The newer type valves Toyota / Lexus have started using can self program as the TPMS will recognise a previous valve is now no longer sending a signal but will see a newer one has appeared as the signal is in range.

discount tyres had the equipment and fitted new valve £105

the light came back on a few minutes after leaving garage, i reset and the light came back on. i'll give it a while see if it settles in

Goodness, how much does the dealer charge, and are these things not covered under the 10 year (annual service dependent) warranty anyway?

I have had two cars with the passive TPMS that uses the ABS. Never had an issue although you don’t get a real pressure reading.

Our current Vitara has the active system and I believe they are about £75 each. Ridiculous extra expense. I read somewhere that the Suzuki system uses the car motion to keep the valve “charged”. No idea if that’s true.