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Tire pressure monitor are ABS driven, i.e., if the ABS "sees" that one tire is turning a different speed than the others, it will assume it is low on air.
If the tires are of different sizes or one is grossly worn out - the tire light will come on. Tire pressures should be within 2PSI of each other max - try plumping the tires with more air and see if the tire monitor goes away.
I believe OEM is 30PSI, which is too low IMO, I'd suggest starting at 35PSI and play around with pressures until you find a good comprimise between traction, ride, and fuel economy.
It is possible that one of the speed sensors on the hub got damaged - have to pull the tire off and look at the sending unit (wire) and see if there are obvious signs of damage (cable will run really close to the spring and strut. After this much time has past - be tough to lay blame on anyone - sometimes ABS wheels sensors just go bad/lazy.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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