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You do need to perform relearn procedure, but should not need a scanner. There is a 30 minute relearn procedure that does same thing as 10 minute scanner relearn procedure:
Here is relearn procedure, as well as learn procedure for any duplicate keys for new lock cylinder:
Important: The vehicle learns the key transponder information and/or passwords on the ignition switch transition from OFF to RUN. You must turn the ignition OFF before attempting to start the vehicle.