On my previous Ford (99 Explorer) I had two sets of wheels : one set of four seasons mounted on original mags, the other set of winter tires mounted on OEM steel rims (Motorcraft brand).
I would literally not lose 1 PSI of pressure over years of daily driving. I sold the truck after 16 years with those mags / rims (I've used 2 sets of winter / 4 seasons throughout its lifetime) and the tires / rims would still keep pressure as if they were new.
This whole modern tire pressure paranoia is absurd. Buy quality tires and use original equipment mags or rims and you will NEVER need to worry about tire pressure, unless you run over a nail or a screw or have a blow out. The TPMS will be of little use under these circumstances, though.... Personally, I keep a tire plug kit and an electric air pump in my truck instead, as it's 100 times more useful. I've used a few times already when a screw or nail got lodged in a tire. When it happens, you will hear it (tick, tick, tick, tick sound while driving). No need for TPMS, even an idiot will know something isn't right...
On a final note, unlike Chrysler and GM, the Ford OEM mags and rims are extremely well made (good alloys / steel) and will last for a very long time before they start losing pressure. The delayed pressure loss typically occurs because of corrosion on the rim, where the tire is seated. Cheap rims are notorious for that, as they will corrode prematurely due to cheap-ass Chinese alloys or steel. As such, you're far better off buying a used OEM mag or rim from a junk yard than a brand new Walmart or Costco special, which will develop leaks much sooner.
The above is what I've learned from my mechanic friends, as well as the owner of a tire shop who explained it to me years ago.