After a rotation, you have to re-calibrate the system so it knows the location of each transmitter. Since you didn't do that, the system assumes whatever tire was front right is still front right.
My guess is a dead/weak battery on the transmitter. I have the same issue on my 2008, after about 30 minutes of driving I get the warning light. Just too lazy to take the time to take it to a tire place for such a silly thing.
From the owners manual:
TPMS Sensor Matching Process
Each TPMS sensor has a unique identification code.
Any time you rotate your vehicle’s tires or replace one or
more of the TPMS sensors, the identification codes will
need to be matched to the new tire/wheel position. The
sensors are matched to the tire/wheel positions in the
following order: driver side front tire, passenger side front
tire, passenger side rear tire, and driver side rear tire
using a TPMS diagnostic tool. See your dealer/retailer
for service.
The TPMS sensors can also be matched to each
tire/wheel position by increasing or decreasing the tire’s
air pressure. If increasing the tire’s air pressure, do not
exceed the maximum inflation pressure indicated on the
tire’s sidewall.
To decrease air-pressure out of a tire you can use the
pointed end of the valve cap, a pencil-style air pressure
gage, or a key.
You have two minutes to match the first tire/wheel
position, and five minutes overall to match all four
tire/wheel positions. If it takes longer than two minutes,
to match the first tire and wheel, or more than five
minutes to match all four tire and wheel positions the
matching process stops and you need to start over.
The TPMS sensor matching process is outlined below:
1. Set the parking brake.
2. Turn the ignition switch to ON/RUN with the
engine off.
3. Press the Remote Keyless Entry (RKE) transmitter’s
LOCK and UNLOCK buttons at the same time for
approximately five seconds. The horn sounds twice
to signal the receiver is in relearn mode and TIRE
LEARNING ACTIVE message displays on the
DIC screen.
4. Start with the driver side front tire.
5. Remove the valve cap from the valve cap stem.
Activate the TPMS sensor by increasing or
decreasing the tire’s air pressure for five seconds,
or until a horn chirp sounds. The horn chirp,
which may take up to 30 seconds to sound,
confirms that the sensor identification code has
been matched to this tire and wheel position.
6. Proceed to the passenger side front tire, and repeat
the procedure in Step 5.
7. Proceed to the passenger side rear tire, and repeat
the procedure in Step 5.
8. Proceed to the driver side rear tire, and repeat the
procedure in Step 5. The horn sounds two times to
indicate the sensor identification code has been
matched to the driver side rear tire, and the TPMS
sensor matching process is no longer active.
The TIRE LEARNING ACTIVE message on the DIC
display screen goes off.
9. Turn the ignition switch to LOCK/OFF.
10. Set all four tires to the recommended air pressure
level as indicated on the Tire and Loading
Information label.
11. Put the valve caps back on the valve stems.