I think its necessary after replacement and it doesn't hurt to do it repeatedly. I don't know of any way for a layman to test the calibration without the Cummins software.

Read your comment on the need to recalibrate a new TPS and wonder whether that applies regardless age of the coach? Just had the sensor replaced on my 2016 DS 4369 but performance seems off. Work was done at a Gregory Poole service center but I was told calibration wasn’t necessary. Is there another way to test proper calibration eliminating the need to do the accelerator depression technique you described? Is there any harm in me repeating the technique to make sure it is calibrated? Thanks. Curt