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If you're running a square (all tires/wheels the same size) and your tires aren't directional a 7-8k mile rotation is a good plan. With summer tires a rotation every 5k is good since they wear much faster.
I also do the 7500-10,000 miles depending on tire condition and tread life. Speaking of rotations, what is the fastest method that you guys use to rotate the tires?
With my square setup I roll up on ramps, jack the back @ the differential, place my rear jack stands. I then use the floor jack to lightly raise the front just off the ramps to complete the wheel swapping. I slightly loosen the lug nuts prior to any jacking to simplify the job. Takes about 15 minutes if I'm just rotating, but every other time I clean the hub, rotor, and wheel mating surfaces w/ wire brushes/wheels, so that takes a bit more time.
Good idea with the ramps , want to try that but i remember not being able to get my jack under the rear of the car, might have to get a low profile jack.