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TPMS reprogram after tire rotation??

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Hello All,
I have read through the 734 page owners manual, not all of it,,, and could not locate information about how to reprogram the TPMS system upon tire rotation. My system displays individual pressure in the EVIC.

The tire shop said they truck would "reprogram itself, or re-learn" the tires new positions. I am not sure if thats true or not. If anyone has already dealt with this or knows how to update the correct tire position, I would greatly appreciate it.

My truck is a 2013, 2500 Outdoorsman with the EVIC...

Thanks in advance,
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