DENSO is $about $50 each for 2009 Sorento on Rockauto.
Rockauto also offers other brands for your vehicle.
You will need to get the serial numbers programed into your car's computer.
I don't know the process for Kia vehicles as this process varies GREATLY from vehicle to vehicle.
My Toyota requires that one use a special tool to read and program the serial numbers into the vehicle computer through the OBDII port.
Once the serial numbers are in, the computer can relearn the positions of the sensors on its own, like when you rotate the tires.
It takes 10-20 minutes of driving for the position relearn to take place.
The tool that I bought for TPMS programing / testing will do many manufacturer's vehicles.
Your tire shop will have all the tools needed to do this programing.
AGAIN, the process for learning new TPMS sensors varies a lot between vehicle manufacturers....and even from vehicle to vehicle within the same manufacturer as well as between different years.
Don't beat up on your wife too bad about the TPMS sensors....it is amazing how many people don't know that their vehicles have these.
When I mention it to a LOT of people, who I KNOW have them on their vehicle, they have no idea about what I'm talking about.
"My tire shop must take care of that...."
The only reason that I bought my own TPMS tool is because I have 2 sets of tires, summer and winter that are mounted on their own sets of rims, and thus I have 2 sets of TPMS sensors.
The tool enables me to change between summer and winter tires without having to go to a shop to get the car programed with the different sensor serial numbers.
SOME vehicles will store 2 sets of serial numbers in their computer. Mine is not one of them.
Some vehicles have a sensor in each wheel well to read the TPMS sensor in each tire (Honda), so you don't even need to program serial numbers into the computer.