My Nissan 4x4 gets rotation every oil change - 4K miles, my F250 SD 4x4 every 5K miles. I'm a professional mechanic and if I've got it on the lift for an oil change I might as well do the tires too. I usually go ahead and stick them on the balancer while off too if I'm not rushed. Belts constantly move in tires and change the balance - yes, even the expensive Michelins too ...