I've had one flat in my limited. From experience, just get the damn thing towed. It will cost you at least $60 dollars to replace the can of goop thats in the trunk anyway. So tow it for $75 to $100 dollars to the local tire shop and have them patch it. Shouldn't cost you more than $125 dollars for a flat, and then you don't have to worry about the goop screwing up your tire sensor (which many times it does, and won't be covered under warranty). Plus you don't have to worry if the tire place scraped all of the goop out of your tire. b/c if they didn't you may end up with a nasty vibration.

just my .02