^ Big thumbs up.
And to your point, tire rotation is subjective and situational.
If you "read" how your tires are wearing (not some extreme case of misalignment, broken belts and wheels out of balance), you can see how rotating them will benefit tire life, ride and noise.
Example, after some wear, you notice the feathering of the rear tires on the leading edges? Easy to feel the tread feathering at the sipes in the tread.
This is not a problem but simply wear from the treads gripping while accelerating. If you swap the rears side to side, it reverses the rotation and corrects this deficiency, until they begin to feather the opposite direction.
In general, front tires feather the opposite direction as rears as they are not drive tires, but they do more braking. On a srw, a simple front to back, same side rotation achieves the same goal as above. Plus, if the fronts or rears are wearing faster, it moves the tire with more tread depth to the higher wear position. AND it gets the front tires which are more prone to other wear characteristics being the heavier axle in an empty truck and also subject to steering forces onto the back which serves to "flatten" and correct these deficiencies.
Then of course there's additional treadwear on rwd 1 wheeler peelers sometimes and you have to get that right rear tire moved around to not have excessive overall wear on 1 tire before the others.
Or simply put agian, read the tires. They'll tell you if rotting would benefit and where they should be placed.