I always cross-rotate tires on all my vehicles and get a 4-wheel spin balance / check. Rotations are every 5,000 for mostly city driving and 7,500 for mostly highway driving.
On a front wheel drive (FWD) vehicle, the front-passenger tire wears the most, then the driver's side front, then the passenger-side rear, with the driver's side rear tire wearing the least.
For AWD, 4x4, or RWD vehicles, the passenger-side rear tire wears the most, then the driver's side rear, then passenger-side front, with driver's side front wearing the least.
Cross-rotating switches the tire with the most wear for the tire with the least wear. After 3 or 4 rotations, I use a tread depth gauge to fine-tune things in order to ensure the tire with the most tread is on the passenger-side front (for a FWD vehicle).