You're right it doesn't specifically mention the tire rotation but it does mention replacing a tire with info on how long and fast you need to drive for the sensors to automatically detect. I would assume it would also apply to a tire rotation once tires are set to its new location.
Once you repair or replace the original road tire and
reinstall it on the vehicle in place of the compact spare,
the TPMS will update automatically. In addition, the
“Tire Pressure Monitoring Telltale Light” will turn off
and the graphic in the EVIC will display a new pressure
value instead of dashes (- -), as long as no tire pressure is
below the low-pressure warning limit in any of the four
active road tires. The vehicle may need to be driven for
up to 20 minutes above 15 mph (24 km/h) in order for the
TPMS to receive this information.