There's a device that you can buy to program a new tpms sensor. IIRC, the car has a limit of 8 (or 10?) tpms sensors. I *think* it was $10-$20 ballpark on Amazon?? 99% sure Forscan can do it. Youtube keyword FORD (b/c Forzda) TPMS relearn.
If you have an air pump, you can deflate the tire completely and compress the sidewall enough (tight fit) but can take out the TPMS sensor. This might be a challenge if you are on low profile aftermarket tires with little or stiff sidewall. Use chalk/tape to mark tire/rim alignment so you can somewhat retain balancing when you reinflate.