Most RV tires are replaced due to age, rather than having the tread worn out, so tire rotation isn't as important as on a car.
I never rotate the rear tires on our E450 chassis, but do rotate the front tires and the spare. This gives me a chance to inspect the front brake pads for wear, the tread for unusual wear patterns, the front wheel bearings for looseness/roughness and check the steering linkage for looseness. I do the job in the driveway using a 6 ton bottle jack and have a torque wrench to properly tighten the lug nuts to spec.
In my experience with tire shops, the air wrenches used to tighten lug nuts produce uneven torque on the lug nuts and often over torque, which could lead to failure of the lug bolts. After replacing all tires a few months back due to the Michelin recall, I loosened and properly torqued all the lug nuts when I got the RV home. I found that most of the nuts were way too tight.