Since Sept 2007 (the start of the 2008 model year), all 4-wheeled vehicles less than 10,000 lbs must have a Tire Pressure Monitor System.
So.....every tire shop should have the tool required and know how to deal with your sensors.
Many reports here on the forum say that their local Discount Tire will do it for free.
It only takes about a minute, but it would be good if you know the procedure so you can help them out.
BTW, I assume you have a an '06 based on your forum name!
If anybody reading has a 2010, you don't need the tool to trigger your sensors
- you can trigger the sensors during the relearn procedure by changing pressure in the tire (so you'll need a compressor to reset tire pressures after programming the sensors, but you won't need a tool!!).