My first set of TPMS lasted 9 years - I was 9.5 years on the second set.Yes, most people agree that original TPMS sensors on new vehicles last about 10 years, but many aftermarket sensors have batteries that only last 6-7 years. Sometimes that makes it a tough call on when to replace them.
DT charges $72 to replace one TPMS - about $300 for 4 of them without replacing the tires.
If I can buy 4 TPMS for ~~$80 and have them replaced when I get tires for $0 extra it seems like a good idea if your current sensors are even 6 years old.
If my tires are down to 5/32 (from 11 - 12 /32 and I needed a TPMS replaced I would most likely buy new tires early.