Some people never rotate, others do. You'll get as many opinions as there are forum members...
Search for "tire rotation", select any of the tire manufacturer's websites. Commonly, unless you are using your motorhome as a daily commuter, you'll probably never realize much gain by doing a rotation.
The outside edges of the dual wear slightly faster than the inside, and the steer tires will wear depending on your alignment and other factors. As such, only by rotating the rears to the front may help even out the wear.
We run about 4-5K miles per year on our unit. I used to rotate the tires on our old unit but haven't on the Sunseeker. We have about 12K on the clock, and all the tires are wearing evenly.
Unless you have a place that will do the rotation w/o cost, I'd not worry about it. We would have to pay to have them rebalanced & rotated, and while we have one that bounces a bit at 70MPH, we rarely exceed 65. I'll let 'me go until it's time to replace them. The replacements include a tire dealer rebalance/rotation for the life of the tires.
Formerly: 2000 Four Winds 26Q/Ford, '96 Kit Sportsmaster 22' 5th wheel, '91 Sunlite truck camper, Wildernest flip-top canopy