Yes, I tested that shortly after installing my winter wheels last year. After driving on them for a few days and not seeing the TPMS light come on, I let about 15psi of air out of one of the tires. After about 10 minutes of driving, the TPMS light came on. When I filled the tire back up, the TPMS light went out.
If you think about it, auto-pairing really isn't that difficult. If the car does not sense the 4 sensor IDs that it knows about, but it does sense 4 sensors on the right frequency with different IDs for a long enough period while driving, the car can assume that the sensor IDs have changed.