The TPMS vehicle relearn procedure is a specific set of steps established by the vehicle manufacturer to activate and confirm the communication between the vehicle TPMS system and the TPMS sensors mounted in the tires.
A vehicle relearn is always required during sensor replacement (as well as other sensor or tire work), whether you are using an OE, universal, or multi-application sensor. Some vehicles relearn automatically when you drive them, while others require a TPMS scan tool to complete the relearn.