I have three used OEM and one aftermarket in my new wheels. I definitely had to program them when I installed them. There is no way for the car to recognize them without it being told to look for the sensors being put into a discoverable mode first. You need a capable scan tool and a hand held TPMS tool.
Also, the 2011 and newer M's got a new sensor that is not compatible with the older ones. I had to make sure I got the correct ones when I was preparing for my new wheels. Maybe the aftermarket sensor work with both systems.
