I have owned my XF for over 2 1/2 years and two rotations of tires side-to-side. Never have had a TPMS indicator go off. Only time they went off was weather getting real cold which set off the sensors low pressure. Quick air in em and all reset. No problems rotating them at all.

I don't get this 'recalibrate' after rotation thing. They don't even tell you which tire is low, if they did I would understand the recalibrate thing.