I think I already know the answer to this, I’m just coming here for verification. I have an 09 and a 12 and I want to switch the wheels between the two. I’m pretty sure I can’t just use the dash button to reset the TPMAS and that I have to buy a specialty tool to do that. Am I correct, or is there a way to do it for free?

 

After swapping take both cars to an America's/Discount Tire and have them reprogram the TPMS sensors to the correct vehicles. Or if you plan to swap them multiple times buy the tool to do it so you don't have to pay for it each time.

 

Nothing is free in life - but you knew that right
Greg's plan is pretty cheap
If you have your own tire changing gear and an air compressor, you can swap the TPM sensors from one set of wheels to the other.
Something else to note is that the TPMS batteries are likely near death on your '09, if they haven't died already. With some effort you can replace the batteries on the cheap, but I think most people just buy new sensors when the light comes on for no reason.