Rotate tires on Class A YES OR NO ( why?)

Since class A uses similar tires to a semi this is what I'd say. Check your steer tires they are probably different from your drive tires. If they are, unless you have a wear issue I'd not worry about it. If you have a wear issue I'd check a tire inflation and/or an alignment front and rear axles. once had an axle out of alignment (front drive) and until they aligned the whole truck it ate tires off that axle.

A good tire shop can "read" the wear patterns and diagnose the problem.