do tow vehicles need tire pressure sensors

Definitely. You have a tire loosing pressure on the toad your first warning is when it goes completely flat and starts to disintegrate, damaging the vehicles body work, wheel and suspension. With a TPMS it alerts you to the pressure loss BEFORE things get critical. So which is cheaper a TST 507 system with 10 sensors or substantial tire/body damage, you decide it's your choice.

X2 on almost everything in previous post. Except I have my first TPMS factory installed on our toad, and it did give me warning when I got a slow leak in one tire. So, yes, I don't have one on our rig, can't monitor the one on the toad while towing, and if I could afford a good one, would like to have one on our vehicles.

IMO a TPMS is just another type of insurance. You never need insurance, until you need it. Usually at that point it's too late, and you can only wish you had insurance. A TPMS is never needed until you either blow a tire or have a slow leak, and you don't have direct eyes on the vehicle. Until that happens it's just another place to spend your money.

I have one on my trailer and consider it one more thing I could regret not having if I ever need it. IMO it boils down to Dirty Harry's catch phrase: "Do you feel lucky?"

This should be in the "dinghy towing" forum, but here is my answer:
Do you NEED TPS on a dinghy? IMO, no.
Have I ever used TPS on one of my dinghys? No.
Have I ever regretted not having TPS? Not at all.
Have I ever owned a vehicle that had TPS? Sadly, yes.
Did I like the TPS? No, not at all.
Would it be a good idea for YOU to have TPS? That is entirely up to you. Just because I had some bad experiences with the systems I had several years ago doesn't mean that you will have problems with a newer system.
Good luck.