No need to drive on them. Just put the wheels/tires on the car. Saw this on YouTube with a guy doing it to an F150 so I thought I would give it a try with my car and it worked like a charm. The TPMS learning tool that I bought from TireRack with my snow tire package didn't work at all, so I started searching the web for answers, and came across this.
Fast forward to about 4:20 for the TPMS part.