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The salt-key -A -y command definitely got the sensor added as a grid member, but did didn't trigger necessary changes on the sensor. After waiting about an hour, running so-status on the sensor still resulted in the output "so-status is not yet available"

However, investigating that let me to the so-minion command. Running so-minion -o=list on the manager gives a list of pending minions. Then running so-minion -o=add -m=<id> for each one listed in category "minion_pre" adds the sensor to the grid and triggers the remaining setup tasks.

This is sufficient to accomplish what I needed. Thanks for pointing me in the right direction.

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Answer selected by hovisms
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