I'm also struggling with this issue. Just bought a new Suzuki Kizashi and picked up a mint set of MB wheels with Hankook Winter iPikes for a song on Craigslist. Now I have to fight this stupid TPMS fitting/calibrating.
Now that programmable sensors are available the idea of paying for a tool or a shop to reset the sensors is moot. I've heard good things about the Schrader E-Z valve. It just copies the code off of the old sensor so no reset tool required for later switches. No need to do any of the other crap. I had the local Discount Tire quote me $60 a pop to install these, so I think I'll go that route.