Since the tire life is not generally limited by treadwear, there's no big reason to rotate the tires on most motorhomes. You go to extra work to end up getting rid of tires which are old but have even more tread left.
Whether a tire store will work on a motorhome or not varies with the store. Best probably is just to call them and ask. Most class C's are on van chassis, and the wheels and tires are not particularly unusual sizes for vans or larger pickup trucks; it's more a question of whether they have a lift or a jack to use on the motorhome, and (in the case of a jack) if they're willing to go to the effort of doing so.
If you do rotate the tires on a motorhome, bear in mind that it's best to keep each of the two tires in a dually pair together so they wear about the same. Having one of the two larger than the other leads to extra wear and heat (they have to turn together since they're bolted together, and if one is a bit larger diameter than the other, the difference has to be made up by slipping slightly. For this reason it's also a very good idea to keep the pressure in the two as close to equal as possible.)
If your tires are directional or you're unlucky enough to have different wheel designs for the front and rear or for the inner and outer duallies, that further limits what you can do to rotate them. Most tires are not directional (if they are, they're marked with an arrow to show the rotation direction), and at least the Ford chassis generally has identical wheels all around.