I always make sure to have each tire touch all four corners during the tire treadlife. I rotate and balance every oil change with Discount Tires since it it easier to keep it straight in my head that way (also use a smartphone app call RoadTrip to document with 3 vehicles). I switch between front-to-back, then left-to-right, and repeat every 9000-9500 mile oil change interval.
This only works with non-directional tires like the Conti DWS 06. Directional tires are usually front to back only. Sometimes tech get confused if you tell them cross-rotation. Front/back or side-to-side seems to confuse them less.
To be totally honest, over 35+ years of long term ownership of only a handful of cars, I rarely rotated but found wear to generally be even if I kept the tires properly inflated & didn’t grind the outer front tire edges off with too aggressive of driving.