TPMS - is the result of too many people driving around with under inflated or flat tires till the tire explodes and they end up in a ditch because they were doing 75mph down the highway in a mini van full of kids. Run Flats were a major contributor to this.
I view TPMS like I do all the other fancy crap that has nothing to do with a car thats maintained and used correctly getting you from point A to Point B. In cases where you have shops that don't have the right tech to set up new TPMS sensors as long as they warn the vehicle operator and its in writing they can't be held responsible. However there will no doubt be Stupid people who go back an try to blame someone else for their stupidity at some point.
Which case you may find some shops choosing not to service your tires if reprogramming of "NEW" sensors is needed.
If TPMS was such a high liability then we would have some major problems with cars leaving shops with incomplete repairs - being driven around with engine lights on etc which pose a much higher risk to people than a tire pressure indicator light on the dash.
I put TPMS right up there with Nitrogen filled tires there are enough people out there that think "Nitrogen" filled tires indicated on their shop receipt is mandatory to a working functional vehicle. LOL - when if they hadn't flunked HS Science they would know that everyone's tires are nearly full of Nitrogen to start with.