There is "what you should do", and there is "what you can get away with". Two different things, often deliberately confused by owners trying to save a buck here and there.
The tire industry best practice though is to apply an R&R kit to a direct sensor in a tire as part of replacing the tires. Special kits are made for this very purpose.
Certainly not mandatory, but tire shops will tell you what they know and advise in terms of best practices based on owner experiences ... which is to NOT wait until the sensor fails before servicing or R&R. Reason is not the pressure sensor so much as the little bits that go with it.. like seals, gaskets, various little plastic bits, etc.
Just like tire shops will install new rubber valve stems when replacing tires even though the existing stems still work fine at tire change. It's to prevent angry customers coming back after a recent tire change complaining that their tire is leaking, or the sensors are not reporting correctly, etc.