I just picked up some '23 Rubicon takeoffs, and the seller told me that they didn't need to be balanced as only the front bead was broken when the sensors were removed?
Recommend to have balanced. The sensor will affect balance approximately 0.25oz. (Enough to cause vibration at highway speeds)...I realize that sounds like a minimal amount, but will cause vibration.
Da Google sez a TPMS sensor weighs 1-1.5 ounces. Since that's located near the edge of the wheel I'd think that would probably impact balance of the wheel. I'd get them rebalanced if it were me.