I had all four sensors replaced when I got my new tires. I had to go to the dealer to have them programed. Went to Advantage Chrysler in Mount Dora, Fl. It took less than a minute to program all four. I also had the Transmission fluid and filter replaced. they also had to replace the wiring harness do to a fluid leak. The total cost was $419. I think that was fair. That dealer has a mech that does all the Crossfires and Vipers. He is very good.