Correct that you don't have to reset it. I usually leave the TDC on for the entire patrol.
Once you have speed and AOB set correctly, one last range/bearing input will ensure the PK is tracking accurately. If you ever change speed or AOB you need to do another range/bearing input.
All that matters is that the PK is correct by the time you shoot. Inaccuracies while setting up a solution don't matter.
[EDIT] I basically seconded what Werner said above.
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