6 wheel rotation and TPMS

If it were me, I'd replace all of my TPMS sensors with aftermarket sensors that are programmable, like Schrader EZ Valves, and buy something like a ATEQ VT36.
Before tossing the old sensors get the Sensor IDs from them.

Program the 4 primary sensors (the ones you are running on the truck) with the old Sensor IDs.
Assign the 2 "spares" random IDs.
When you rotate, swap the Sensor IDs from the ones you are taking out of active use to the ones that you are bringing into active use and assign "random" IDs to the spares.

I'm not doing what you are doing, but have a set of "summer" wheels and a set of "winter" wheels. I've cloned the original IDs from my factory sensors into the programmable sensors that I've purchased for my 2nd set of wheels. This allows me to swap the wheels and basically the truck things the sensors are the same, as they have the same ID as the OEM ones.