The short answer to this is yes. You never know when your TPMS sensors might be off due to age or low battery. You might also find that while your TPMS light is on when you first turn the car on, it goes off after five to ten minutes of driving. This is likely due to the fact that friction from the road surface has warmed up the tires and the air inside enough for the air pressure to increase.
It’s best to play it safe and keep a tire pressure gauge handy and check tire pressure regularly, you might catch an issue before your TPMS becomes aware of it. A good rule of thumb is to check your tires visually each time you get in the car and to manually check the tires about once a month.