No, you don't need to replace all four TPMS sensors at once just because one has failed. Each sensor operates independently, so a healthy sensor doesn't need to come out simply because its neighbor died. That said, if your sensors are all roughly the same age, replacing them together can sometimes save you a return trip.
When one TPMS sensor on your Jeep fails, it's usually because its battery finally ran down or because it took a hit from a pothole or curb, not because there's a defect affecting the whole set. Since all four sensors started their service life around the same time, though, it's fair to wonder whether the other three are close behind. This is really a judgment call based on your Jeep's age and mileage rather than a hard rule. If your Jeep is relatively new and one sensor failed early due to physical damage, there's no reason to disturb the other three that are working fine. On the other hand, if your Jeep has racked up significant miles and one sensor has already failed due to battery age, the remaining three are likely approaching the end of their lives too, and replacing them together might make more practical sense.
There's also a labor efficiency angle worth mentioning. Since replacing a TPMS sensor typically means removing the tire from the wheel, technicians can sometimes offer a better overall price when doing all four in one visit rather than charging a separate service fee each time a sensor fails down the road. If you're already having your Jeep in for a tire rotation or new tires, that's often a convenient moment to ask about the condition of the sensors you haven't replaced yet.
Ultimately, the right move depends on what a technician finds when they actually check each sensor's signal strength and battery status, not on an assumption that they all need to go together. A quick diagnostic scan can tell you which sensors are still reading strong and which ones are on their way out, so you're not paying for parts you don't need yet.
If you're dealing with a TPMS warning light on your Jeep and aren't sure whether it's one sensor or the whole set, Hoover Street Auto Repair in Ann Arbor can run a proper diagnostic and give you an honest recommendation based on what your Jeep actually needs.