Are you getting a "SERVICE TPMS SYSTEM" in the EVIC display or are you getting a "PERFORM SERVICE" message? If it's the first message, you'll need a programmer (Diablosport, Superchips, etc) if it's the second, you just need to change your oil...
06 Limited Hemi QDII
CBEngineering Coilover Lift Kit, tie rod ends, U+L rear control arms, RRO front UCAs, adjustable track bar, JKS QD sway bar links, Steel Armadillo diff cover and A/C armor, 4xGuard full Matrix, rock sliders, rear sliders, and belly guard, Wilco Offroad Hitchgate, all riding on ProComp Series 29 17x8.5 wheels with 265/70r17 Nitto Ridge Grapplers
.45ACP...because shooting twice is just, well, silly.