I haven't found a reason to rotate them after 24,000 miles. I do watch for uneven wear and will address the cause and rotate left to right at that point, but see no reason in going through the Chinese fire drill if they wear evenly. I am running highway/steer tires (Continental HSR) on the front and traction/drive tires (Continental HDR) on the rear, so I will not be swapping front to back.
This is my first DRW, so I watch tread wear with some curiosity because I can feel the rear scrub when taking sharp corners. I'm wondering if the rear will wear out first since they primarily propel the vehicle and carry the most weight across four tires or if the front will wear faster since they give directional control and have more weight per tire applied. I know how SRW's wear through experience but only know DRW from education...