"What is the correct process for a tire rotation on a DRW pickup?"
PROPERLY INFLATE your tires based on your load!!!
Now that's out of the way. Leave the rears where they are. The fronts rotate side to side. That requires separating the tire from the wheel so the rotation stays the same.
RAM Dually guys save your self a lot of tire wear right out of the box and have the front end aligned to 1/32-1/64" toe. The spec of 1/4" is too much and causes outside front tire stepping.
My tires wear perfectly and the truck tracks straight.