Brought my 2007 sonata into the dealer to check out why my TPMS lights stay on. He called back letting me know that the sensor is broken and it needs to be replaced for 140 (Parts/Labor). I am wondering, is it something I can replace myself and if so, would it save me much? Should I bring it somewhere else with the possibility that it can be done for much cheaper? Is it something that should be covered under my warrant? Any feedback is appreciated.