I'm buying a new set of wheels for winter and I realized that I need another set of TPMS sensors too. But I'm not sure how to make car recognize them.

Do I have to perform "relearn" procedure every time I change wheels? Or is there a way to get around the issue?

I found a lot of sources for the older Maxima <2014 but I'm not sure if it is the same for 2016

 

First you have the get the car to learn your new tpms, then after, when you change your set of wheels, they'll recognize by themself. I run two set of wheels and they always recognize upon change.