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My tire are constantly losing air. I bought new tires last year because I thought that was the problem. Nope. How much does it cost to replace valve stems for a 2009 ES350.
I would have the tires removed and check the rim around the bead to make sure there is no corrosion. Then have them sanded smooth and remount the tires using tire glue. This should seal them . I would assume they replace the TPMS at that time too.
Tire Pressure Monitor Sensor - it's typically part of the valve stem or attaches to the back of the stem and sits inside the rim. They're battery operated and need to replaced every 10 years or so.