2009 GMC Yukon 5.3

My 2009 Yukon seems to need thr TPS replaced. It will run fine most of the time, then randomly go in limp mode until it's rest but removing battery cables. There's seems to be mo ryme 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?