Take the rims to a reputable tire store. They can swap the tpms sensors from the old rims to the new ones. They will usually charge $4-6 each for a rebuild kit (new gromet, gasket and core). The system monitors for a minimum tire pressure and won't need to be reprogrammed. If you off road and pressure down you will just have to live with the idiot light until you inflate the tires back to normal.
'00 XLT 3.0 Exted cab
Mods: Roush hood & cai, ASP pwr pulley, hot wtr bypass, 180 therm, e-fan, Gibson exh., 4.10 l/s, FabTech lift, kyb's, bii sway bar. 31x10.50 Yokahama ATs, Panther rims, light bar, SS grille, 03 stang buckets, explorer console, hurst shifter