A lot of pretty bad info here.
First, we're way past the age of transponder IDs, etc. Aftermarket TPMS sensors come in all different forms. The highest quality ones (Dill Manufacturing for our trucks) don't require any kind of special read, particularly since Toyotas don't read individual tire position. "Redi-Sensors" are the way to go.
Secondly, you can remove your sensors and run regular valves. Doing this really isn't that bad, if you can live with the blinking idiot light or don't mind figuring out a way to turn it off.
To the OP: Sensors are typically a $60 part (America's/Discount Tire
). I typically don't charge folks to install, particularly if the tires were purchased at one of my stores. We do flat repairs for free - seems to me that kind of falls into the same category, and it takes less time than a flat repair. Even that price is negotiable. The 06/07/08 batteries are all starting to die out. I've been known to do a flat $200 for all 4 sensors installed. If you don't mind living with the light until the next time you need tires, you can always wait until the tires need to be replaced, at which point there shouldn't be any labor involved anyway. You'll also be saving yourself the cost of a TPMS rebuild kit ($6-10 per corner depending on where you're buying).