I came across the TPC at a store here in NL. There was a promotional sale of a basic set with free battery. I already had the PDC, I played with the new TPC and bought it, gave the PDC to a family member.
I use the CXS for 95% of all screw related activities, and I have a BHC18 for more serious drilling. I bought the PDC for when I just want to take one device with me and it is really nice for that. Yes a little too heavy for screwing in smaller screws and it is not ideal for reinforced concrete.
About the difference: the TPC is more stubby, it is shorter and thicker. The gear switch is much, much better. That switch initially sold me on this thing. Oddly, it is a little louder (unloaded). And a hair heavier. I never had an issue with torque. The PDC always felt like it was not designed by Festool, the TPC screams Festool. In short, no, you do not need to replace the PDC like I did. But I would wait for the TPC.