imo, you will never wear out the tread off of a camper tire before it wears out due to a blow out from side wall degrading after 5 years or so. I have never rotated tires on a camper in 35 years. If you have unusual tread wear from one tire, you should have your axle looked at for alignment. Check your psi on your tires before and during each trip is the best for tire wear.
2013 Forest River Salem Hemisphere SBT312QBUD
2001 CrewCab F-250 7.3 PowerStroke Diesel
SuperChip, BTS transmission, 6.0 Trans Cooler