Each sensor has a unique sensor ID. Your truck has a table that these sensor ID's are written into when you do the sensor learn procedure. If you removed the sensors from the vehicle (as they were pulled with the wheels), you will get a TPMS light after you drive enough.
Having said that, if you put your old wheels and tires in the bed, your truck will go on reading them and not give any codes or lights.
When you perform the TPMS learn procedure, what you are doing is telling the truck which sensor ID to write to memory that each wheel location (LF, RF, RR, LR) in that order.