TPMS question - light comes on after driving, goes off after

Yes, do that first. It MAY cost you $50~75, that seems to be the "cover charge" these days, just to get your foot in the door.

You mention putting electrical tape over the sensor. You're getting closer, lol. Again, I'd suggest doing: nothing. The passenger seat airbag status lights are way more obnoxious, if you think about it.

 

Toyota Certified usually includes a warranty, so make them fix it. Done deal.