here's the code:
https://github.com/rouyng/tpms-helper
so far I have only tested it with Toyota sensors, so YMMV when used with other sensor types as I'm not sure if the rtl_433 output will be the same.
I also wrote a blog post when I first figured out how to test the sensors with rtl_433, before I wrote the script. probably useful for background information: https://www.r-c-y.net/posts/tpms/