I’m not a big fan of rotating tires except on AWD vehicles. On FWD, I use a tire depth gauge and rotate from front to rear, keeping the tires on the same side of the car so they do not change direction of rotation, when the tire tread depth on the front tires is down to about 6/32". The rears are usually at around 9/32". Now all tires will reach 4/32" at about the same time.
On RWD, I don’t rotate at all because all 4 wheels wear at about the same rate. Rotating the tires puts them in a different position where they get a different bite. Right after rotation, tire wear accelerates until the tire is worn down to match the bite at its new location. Its like changing the angle of the saw while cutting wood to get a better bite, you cut through the wood faster that way.
But on AWD, you have to consider the front/rear differential. From my experience, not rotating the tires give me about 15 to 20% more thread life. One an AWD, that savings will never cover the cost of replacing the center differential on an AWD. On AWD, I will sacrifice a little rubber.
I do like using a tread depth gauge on AWD as well and rotating the tires when there is a 1/32" difference in the tread depth although that usually works out to bout every oil change if you are doing oil changes every 7500 miles. You can go 2/32" but I like a little allowance for error.