I do on my dually at about that mileage, in my opinion it prolongs the tire life especially on the front. But I also know others that don't do any preventive maintenance, tire rotation, wheel bearings, suspension lubrication, so it's up to you how much or how little you do.
Danny & Linda
Sold our '13 Thor Redwood 36 FB
Currently RV & truckless
Most RVers never wear out their tires, they have to be replaced due to age long before they wear out. If your alignment or balance is bad, you'll get faster and uneven wear.
I expect you would be in the minority if you rotate RV tires.
Bad decisions make great stories!