Over 10 years ago I spend small fortune for TPMS system for my motorhome.
But than motorhome used 22.5 wheels and the Michelins I used retail $550 a piece.
So beside safety, if the system can save single tire from shredding due to low pressure - it will pay for itself.
New cars come with TPMS for a decade and California made checking tire pressure a part of biannual inspection so even government considers that important.
Just try to understand how TPMS work. They go to "sleep" when you park the car and will be waken when wheels start rolling. Some system act faster, some need couple of minutes to start showing. So morning walk around still apply.
Battery replacement is another story as most of them are sealed and require whole sensor replacement. But sensors are getting cheaper and cheaper.
Factory TPMS are mounted inside the tire, so you have to pay for tire removal on top of that. But I have factory TPMS on my 11 years old sedan and batteries still work after 180k miles.