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

I'm not a tire expert! But I have a lot of experience being around tires! I have never rotated a tire on my Semi 44-1/4 years driving over the road (logged over 4 million miles) and, I have never rotated a tire on my RV and I've been RVing since 1976. My tire guy told me not to and I believed him, never asked him why, just did what I was told.