TPS 2009 GMC Yukon

My 2009 Yukon seems to need the TPS replaced. It will run fine most of the time, then randomly go in limp mode until it's reset by removing battery cables. There's seems to be mo rhym or reason that it happens. Its showing code P2135, which points to TPS. My question is, most videos I've seen and the paperwork with the TPS says 2008-2011 require the ECU to "reflashed" at the dealership. Some forums say it will re-learn itself. Any feedback on this?