The procedure in the supplement DOES NOT WORK. Tried this myself and no joy so I went to he Firestone dealer who had installed the tires and still no joy. What works is the older method of the dance between brake pedal and ignition. Good news is there was an Old Hand at the Firestone dealer who had the ignition/brake pedal dance down cold. Had my tpms system reset perfectly in about 2 minutes.
Following is what I found on the Net.
1) Get the TPMS fault light to come on.
2) Re-check the tire pressure to make sure all 4 are correctly inflated.
3) Make sure the car is off.
4) Press and release the brake pedal
5) Press ignition button on, off, on, off, on.
Make sure the system boots up all the way before turning it off each time. If you do this too fast it won't work.
6) Press and release the brake pedal.
7) Press ignition button off.
8) Press ignition button on, off, on, off, on.
The horn will beep once and a message about training the front left tire will appear on the display.
9) Use the training transmitter to train each wheel.
Start at the front left, front right, rear right, then rear left.
Hold the transmitter against the sidewall of the tire, near the valve stem.
Once all 4 tires have been reset the horn will beep twice.
Note, I have not tried this particular method myself but it seems to be what that mechanic at Firestone did. Me, I cheat. I just take the car into the Ford Dealer and get "The Works". BTW, part of this package is a Tire Rotation. Hey, it's zero cost as a perk for purchasing a new Ford and I still have 3 more of the Works in my Fordpass account. Also have something like 45,000 points left and IRRC I get more points whenever I go in and get "The Works". The way its working I may not have to pay for an oil change for 3 or 4 years.