Not a mopar - 2002 Trailblazer question

Didn't replace the pcm myself si I assume it was programmed. Can I relearn it at home? No anti theft warning. No warning at all of any kind.
Can't remember off the top of my head, but the "home learn" is a key on & tap the starter & wait sequence, more than one cycle. Been years since the last one I did, google the
trailblazer forums for it, or find someone w/shopkey..Mitchell on demand etc........