Hi SeaBiscuit,
Here is my take on this without reading through all the previous comments from others.
1) Tires
I never rotate the tires for this reason. The rear tires wear into their own pattern in pairs. When you rotated the front to the rear, you inadvertently placed more weight on the inner rear tires because they have more thread and therefore they stand taller than the outer rear tires. So don't rotate RV tires for that reason. Just replace the front tires when they become questionable. When it is time, your rear tires should be replaced as a set of four for the reason I mentioned. If I ever get a flat tire and place a new spare next to a worn one, I will not be comfortable about it.
2) Brakes
You will have to pay for the front disk brake over-heating rotor-warp damage.
BUT understand this. Your 1993 E350 chassis has rear drum brakes. I would almost wager money that your rear drum brakes are not adjusted properly to perform as they were designed. When adjusted properly, they will take the stress off the front brakes which caused them to heat up and warp to pulsate. I speak from personal experience with my first motor home, though it was a duel rear wheel Toyota chassis, not an E350.
It will be very hard to find a shop that will spend the time to adjust your rear drum brakes properly. I ended up doing my two rear drums myself at home. It took me well over an hour to adjust them and I needed another person in the driver seat while I was on my back on the driveway by each rear drum brake. On a level surface with all rear tires in the air on jack stands, transmission in neutral, and parking brake disengaged, I had my helper pump the brake after each time I got a drag on the tire-pair while spinning them by hand. Pumping the brake re-centers the brake shoes which then had me adjusting them again. I finished after nearly 20 cycles per drum, retaining a slight drag. I was totally shocked as to the improvement in the stopping power my rig gained. I never had trouble again with over-heated and warped front brakes. The safety factor was another monumental gain. For safety alone, get your rear drums adjusted as I described.