I don't think the relearn is always necessary, but I would recommend doing it after replacing the sensor. Where are you located? Maybe check the Tech 2 availability thread for someone nearby, willing to help.
EDIT: https://www.tahoeyukonforum.com/threads/tech-2-owners-map.127187/
EDIT: https://www.tahoeyukonforum.com/threads/tech-2-owners-map.127187/