Yes, it will self locate. BUT the replacement sensor has to be "programmed" to the cars VIN upon installation to the rim. Most all tire shops do this with any TPMS equipped car getting replacement units for a "nominal charge". It is NOT buy it and change it yourself and go.
FUNNY, EVERY TPMS wheel sensor I've had replaced HAD to be "activated" to the car. Maybe not thru OBDII port, but with a hand held scan tool FOR TPMS sensors. You can't just buy one and put it in the rim and drive off. Even our '11 Journey needs this "activation" done and it uses the vehicles VIN.
This is from the 2011 Dodge Avenger service manual:
Once the vehicle has remained stationary for more than 20 minutes, drive vehicle for a minimum of 10 minutes while maintaining a continuous speed above 15 mph (24 km/h). During this time, the system will learn the new sensor ID. This is part of the TPM Diagnostic Verification Test.