Need? It depends on your definition. The car will run without the TPMS present. I don't think there is an audible alarm. You drove for years with no TPMS, but you may have destroyed a tire or two along the way that you had to deal with at an inconvenient time.
I think TPMS is worthwhile. If you don't so much, you could disable the TPMS system. In some cars, there is a module you could unplug. The preferred method depends on the car, so you might check at a Hyundai forum. A more universal method with your system with sensors in the tires, is to put tape over the dashboard light when the snow tires are not installed.
If you have snow tires on for a shorter period each year, you might look into moving the sensors. I don't know if the sensor for the alloys is the same as for the steel wheels. There are sensors made for more than one angle, so that the centrifugal switch will be more responsive on a corresponding wheel.