Hi,
I just did a search on this topic on the internet. Came across some comments from this forum. The consensus (from what I read) is that tires tend to age out faster than wear out (unless you travel a lot in 7 years or so). Unless you have signs of uneven wear (then you need to get an alignment). I looks like most suggest to just leave tires as they are. One idea that I liked is to turn them around on opposite side of tire in order to help with UV damage. I'd like to rotate my spare tire in so it gets some use, but could be a problem to do this.
They suggested that CARE needs to be used in order to not put higher wear tires on the back (dually) as that could cause you to have tires on one side carrying more of the load than more heavily wore tire that is switched with it.
https://mhs2go.com/blog/when-and-where-should-i-get-my-motorhome-tires-rotated/
Long story short, keep an eye out for uneven wear, don't rotate because they will age out before they wear out.