No need to remove the tire to replace the sensor, breaking the bead on the sensor side is all that's needed. Don't confuse "relearning" with "programming", every new sensor needs to relearn and driving a while should do that.
I don't know what a scamming tire shop might call it; "We need to use our programmer to set up your new sensors" for example. Whatever they call it don't go for it. As I wrote before, just driving does the trick. And I guess you can fit the new TPMS past the tire by breaking the bead, but I'd still wait until I was replacing tires. I don't think it's worth the expense. Just my opinion.
