How to replace Tire pressure sensor?

Unless you have a TPMS tool and a replacement sensor at home, this generally isn't easily doable by a DIYer :-(. If you can get the right tool to program the new sensor, confirm which sensor is bad (and ideally, change both on that part; they usually fail in pairs or within a few months when one dies like the RF sensor, then the LF driver sensor goes next) and not mess with the tire alignment, it's doable if you can deflate the tire and break the bead in a isolated section IF you can avoid disturbing the alignment. Something like this will allow you to program the replacement sensor: Autel TS501

Some cars can auto-learn the replacement sensor with OEM parts, but say you use a 3rd party sensor like an Autel sensor. You will need to clone the "bad" sensors data to the Autel sensor, then swap it in - if your car can self learn with an OEM sensor, you may be able to have it replaced, get the $200-250 scan tool (verify it is all system with TPMS reset support!!!) and the save a lot of money by clearing the code and driving it. I know Hyundai/Kia does it (as well as a lot of the newer Japanese cars), but GM's engineers have always had their heads in the sand on things like this, so much so that I wouldn't count on it. At the minimum, see if you can get the car scanned to see which side needs sensors. My scanner does it so I can check without a shop and know.

This is often a $1-200 parts-cost job to get done at a shop that can also rebalance the tires, given that they will likely need to remove the tire and disturb the balance. Labor and the required alignment will push this up more, but expect it to be ~$2-300 with a sensor swap and balance. Do both sensors on the affected side to make sure you do not have to go back - yes, buying 2 will cost you but it's cheaper then double labor charges.

That said... I have reset these cars before, given that I have a scanner that can reset TPMS codes, and driven them 10-15 miles to see; it usually comes back, but sometimes a reset and relearn will resolve it without buying parts or having the tires balanced. It's worth a try if you can have the TMPS codes cleared by a shop/friend or yourself if you own a high-end scanner. I have even seen people put off the job if they are due for tires soon and get it addressed then to save money on the repair.