Toyota TPMS are one of my favorite topics!
Chances are you have a dead sensor. Get yourself a copy of Techstream and a cable, I recommend the VXDiag VCI Nano, for whatever reason the cheapo depot cables did not play nice with the TPMS computer on my Land Cruiser 200 (but worked fine on my LC100? YMMV).
With Techstream, figure out which sensor is not reporting. You can see realtime values, so just let air out of the tires as you watch values, when the values change, record which sensor is in which position.
When you find the dead sensor, pull the wheel off, pull the valve stem core out, pop the bead off one side with a floor jack, and shove the bead down past the sensor.
Remove the nuts and hardware holding the sensor to the rim, pull out the sensor.
Record the actual part number off the sensor, don't trust the interwebs. The interchange on Toyota TPMS is not always correct if there was a model year split anywhere near the build date of your truck.
Order up a new Denso OEM sensor.
Get the sensor.
TAKE PICTURES OF THE ID OF THE SENSOR.
Instal the sensor in the wheel, air the wheel back up, reinstall.
Use Techstream to write the new sensor value to the ECU.
Within a few seconds you should see the values reported to the ECU. I will usually air up to a higher than normal PSI just so I am 100% sure its making coms, then air it down to the recommended value.
There is no programming or initialization required other than maybe having to drive around the block. No "beep the horn 3 times, stand on your head, turn on the left blinker, listen to an hour of AM radio, cycle the key to the rhythem of La Bamba" that some other cars make you do.
Direct link to cable here.
https://www.vxdiagshop.com/wholesale/vxdiag-vcx-nano-for-toyota-compatible-with-sae-j2534.html
Or just take it to a tire shop and let them deal with it.