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It is my understanding that the threshold is set at 75% of the recommended 65psi front and 80psi rear pressures. I like to run my rears lower than my fronts when unloaded so I retrained the system and told it that the fronts were in the rear and the rears in the front. I aired down to 80% of recommended and after a few days the light came on so I went to 85% which puts me at 68psi for the front tires and 55psi for the rears and have not had the light come.
Per Michelin and my actual axle weights I can go even lower without safety issues.
If the dealer tells you it can't be done, that's bunk. The programmer that can do this at the dealership is called IDS. Try to find an independently owned repair shop who has one or tip a mechanic at the dealership to do it for you.