Tool for reading sensor code inside specific tire?

First off apologies for a likely very stupid question. I’ve searched and feel like I’m taking crazy pills because I can’t find the answer.

Trying to do a 5 tire rotation. Have aftermarket wheels with non-cloned TPMS. I’m looking for a tool that will read the TPMS sensor already mounted in a wheel/tire combo. I can program the codes myself using Techstream but unless I know the sensor ID it doesn’t help. No, I don’t want to go to a dealer/service shop. No, I don’t want to clone them. I want a tool that can read sensors already installed.

Anyone know which tool I should be looking at? Thanks in advance!

Edit: I’m a dumdum looks like the Autel MaxiTPMS scanners can be had for about ~$100 on Fleabay and will do the job. Would be curious if there is something cheaper/smaller though.