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On a 2001 or later car, the TPS system can be turned off with a Tech-2 programmer.
On 97-00 cars I don't believe there is a permanent way to disable.
If you remove the sensors, you will probably get a "serice tire mon. sys." message on the DIC every time you start the car. Just hit reset and go on as normal, it doesn't limit speed, cut power or affect anything else.