The important thing about tire rotation is that the fronts and the rears need to be swapped. The 2 ends of the vehicle do different things and the tires wear differently. On RWD, the rear tires wear in the center and on the front, they wear on the shoulders. On a FWD, the wear is more rapid on the front (about 2 1/2 times faster), and the wear pattern is more dependent on the alignment.
When I do a rotation I can jack up the whole side of the vehicle (except for the van!). I put a jack stand under a corner, take off the tire, then proceed to where that tire is going, jack up that corner, etc. - going around the car until done. While a simple front to rear would be easier to do, it isn't that much more difficult to do a Modified X.