I had a set of summer wheels and tires fitted with new TPMS sensors a couple months ago, the sensors were about $50 each purchased through the shop, they were installed and programmed for free by the local chain Town Fair Tire. This was for a 2010 Toyota sedan. I do all my tire and wheel business with them but I would expect if someone shows up with sensors and wants a shop to do the same the shop would charge maybe $20 or 30 per wheel if for no other reason than the time it takes the tech to get that done.