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Every time the tires are rotated, the TPMS system need to be re-calibrated. This needs to be performed for several reasons, but one of the main reasons is that as the tire wears, the tread level decreases. when the tires are rotated the tire that has less tread has changed positions on the vehicle, the control unit see the change in diameter and assumes the tire is low on pressure and turns the light on. By resetting the calibration, the control unit learns the new values.
You can reset the tire light by pushing the tire calibration button on the left side of the dash, (on LX and Sport trim) or through the iMID on ex and above trims levels.