I agree. Rotating your tires will not affect the TPMS.
However, the TPMS more than likely knows where each tire is mounted. When there's a TPMS error, say sensor malfunction. The TPMS will tell the factory scan tool which tire it is according to 1,2,3, or 4. Depending on the manufacturer, the number one tire can either front left or right, or even back left or right. The service manual will tell which tire is where. That info is needed when the sensors have to be manually reset and programmed. Hence the funky TPMS reset tool that every tire shop and dealer now has.
On some new cars, resetting the sensors are done by taking a short trip above 15mph or so. Every vehicle model and manufacturer has it's own thing at times because of the introduction of revisions to the sensors.