If the vehicle uses a direct TPMS (i.e. fitted with individual TPMS sensors), then it's usually possible to identify which tyre or sensor is causing the alert through the vehicle's multi-function display (MFD), but I suppose exceptions exist.
First and foremost, let's eliminate the basics before taking the more expensive and time-consuming route of diagnosis and/or replacing parts.
Read the owners manual carefully and ensure you are completely familiar with how the TPMS operates on your particular vehicle, which may be different to vehicles using an indirect TPMS.
There are two sets of tyre inflation pressures for the vehicle: one set for "normal load" (or half load) and another set for "full load". Likewise, IIRC, there are also two threshold settings for the TPMS: "normal load" and "full load". This means that the system will give a false alert if you inflate the tyres with the "normal load" figures while the system is set to "full load".
One must also take temperature into account. For a fixed volume, pressure increases when temperature increases (gas law). So if the tyre is warm, you need to compensate for this by approximately adding between 2 to 4 psi.
For example, if the recommended inflation pressure is 39 psi (with TPMS set to "normal load"), then:
Warm tyre (car driven to service station): fill at 42 psi.
Cold tyre (ambient temperature): cools down to 39 psi = correct inflation pressure.
Warm tyre (car driven to service station): fill at 39 psi.
Cold tyre (ambient temperature): cools down to 36 psi = underinflated, which triggers TPMS warning alert.
It is best practice to adjust the inflation pressure when the tyre is cold (i.e. at ambient temperature).
If none of that fixes the issue, then you may have to look at getting the problem properly diagnosed.
With great difficulty, I imagine.
The lithium coin batteries installed in many TPMS sensors are not designed to be user-replaceable. The battery will either be soldered on (tab configuration) and/or encased with a potting compound (usually synthetic resin) to protect the electronics from excessive heat and vibration.
In addition, TPMS sensor manufacturers usually use industrial-type batteries designed for high-temperature resistance, which might make them more expensive to purchase than ordinary batteries.
The usual procedure is to replace the entire sensor, warranty or otherwise.
Maybe try contacting Allianz and ask if the policy covers TPMS sensors.
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