TPMS reprogramming

Over the weekend I purchased 4 new tires. While the shop was working on them, they couldn't get the valve out of one of the TPMS sensors. I knew it was bad/bent when I had them switched a few months ago. So I have them replace it with a new one. Their programmer was low on batteries and it wasn't working properly. I took it to one of their other shops the next day to see if theirs worked. The guy is able to read all 5 sensors and plugs the device into the trucks computer. From there he isn't able to load anything onto the computer, it just stalls out.

He is able to read all the sensor ID numbers and writes them down for me. But I'm stuck with the TPMS sensor light on the dash. I've called a few Toyota dealerships and the closest one to me wants $94 to break the tire down and reprogram everything...I say BS! As I understand they just need to connect to the computer and input the sensor ID numbers...but then again I'm not positive.

Any options (other than black tape over the light) to look at? The tire shops that I've been to say Toyota is the hardest to program. Am I stuck with the stealership doing the work or is there a device that will do it without costing me $100 bones?