If the exact same TPMS sensor is replaced, there is no need for rebalance. You'll only break the tire bead directly over the section of the tire where the valve is to gain access to the back end of it. The rest of the tire bead stay seated. I've got a NoMar tire changer for my motorcycle tires, but the bead breaker works well enough for car tires too. I've bought sets of wheels with tires already mounted and balanced on the wheel from Tire Rack. Instead of paying them to put in rather expensive generic TPMS sensors, I had them install plain rubber valve stems instead. When I get them in, I break the bead of each tire to install genuine Hyundai/Kia TPMS sensor I bought from ebay. I just cut the cheap rubber valve stem off and remove the stub from the back end, before pulling the new TPMS sensor in.
That's the same way you can replace a TPMS sensor.
As for batteries, I don't think I've ever come across any TPMS sensors that are battery replaceable. Some are packaged such that a guy can break open the plastic case, desolder the old battery, and solder on a new one. That is not worth the time of most commercial service shop's going hourly rate. Neither do the shops want to take on the liability of the old TPMS going bad later and being responsible for it. If you are a competent DIY... sure.
FWIW, TPMS sensors cannot have spring seated battery compartment under removable covers, like in some consumer electronics. They experience huge amounts of shock and G-force, so the battery must be soldered on and encased very securely. Just because they are electronics doesn't mean they'll last forever with just occasional battery change. The internal load cell that senses tire pressure may drift and/or degrade over time... and more than likely will.
I've had TPMS sensors that last 5yrs or more. For most car owners, that's maybe one change over their entire ownership period. Not to say there won't be ones that die prematurely, but overall, directly replacement is not that unreasonable.