If you're ok with the message until you're next tire change, have the sensors replaced then. Make sure the shop is going to stand behind the sensors they install. By some small chance if the shop is given a bad sensor, you want them to pay replace the sensor, pull the tire off, replace the sensor, install the tire and balance the tire all over again. Make sure you replace all four TPMS at the same time.
There are so many slim shady TPMS sellers that market their sensors as new but are actually junk yard pulls. It's ridiculous. If you've got chrome clad rims it's especially important to have the TPMS active. Corrosion on the bead of the rims causes them to leak after 5-7 years. The TPMS will allow you to refill a low tire vs. driving on it flat until it's ruined.
Also keep in mind if you have AWD like a Denali, new and old tires don't mix. The wear of the tires changes the tire's circumference so it's possible to spin the diff and damage the drive train if new and used tires are installed. The tire guys love to tell you this because they get to sell four new tires to you.