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I got the "TPMS Malfunction" light right after I had my 20" wheels installed with new TPMS sensors. My first thought was that one of the TPMS sensors was either bad or was perhaps not installed at all in one of the tires.

But, I was able to resolve the problem myself. All I did was go into MMI and store the new tire pressures, and that did the trick. The light has not ever come on again.
 
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