However, if you have any transmission-related trouble codes after the replacement, or if the transmission is still malfunctioning, then you might need to have the TCM scanned and potentially reset or re-learned. A simple code scan at an auto parts store can tell you if there are any issues that require further attention. Sometimes, simply disconnecting the battery for a while (to reset the system) can solve minor issues.
In short: Replacing the solenoid itself doesn't require programming, but subsequent diagnostic steps might be necessary depending on the outcome.