I've been told that you bolt them on and drive them. When we rotate tires, we don't do anything special, just drive them. The owners manual essentially says the same:
A replacement sensor must be fitted to a
running wheel in order to be recognised by the
TPMS. Recognition only occurs when the
vehicle is driven above 25 km/h (18 mph) for
approximately ten minutes.
The receivers are located on the back side of the splash panels, so the signal strength isn't that high, and there isn't any cross interference, the sensors pickup the nearest transmitter and use that value for that receivers output to the Information Center.