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If your TPMS says there is an error (which you indicated was true), and you have the proper pressure in them now, you MUST do a reset. If you move or substitute new, or decide you want a new 'normal' pressure, you must also then do a reset. So, for your situation is it both 1 and 2. Normally, only 2.
For whatever reason, the menu changed. When on the TPMS status page, AFTER you've got everything where you want it (right pressures and tire type), tell it to SAVE SETTINGS. If you then look at it, it will say resetting TPMS regardless of not changing any of the menu options. To get that done, you have to drive the vehicle some so it can reverify what TPMS are installed and where they are installed, and that takes a bit of time as they only broadcast about once every 30-seconds, and it's looking for changes in rotation rates to identify where each tire is located on the chassis (only one receiver, not one at each wheel). It's using the rotation rates and distance traveled from the ABS, and eventually figures out which wheel is where based on their different paths as you go around curves/corners where each tire takes a different path. It'll take a lot longer if the road is ruler straight. Circle a block and it should go faster.
FWIW, you have to do this while in the READY state.
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