Q. How often do you have rotate tires on a truck? Does it depend on how many miles the truck has driven?
A. It does depend on mileage and there are various intervals recommended by different manufacturers that could vary as much as every 3000 miles to every 7000 miles. Rotation is only necessary if you want to get a more equal wear pattern on all tires, thus making them all four due to be replaced at one time. Many people don't ever rotate and just replace the front tires or rear tires when needed.
A good rule of thumb is to rotate the tires at every other oil change. If you change your oil every 3000 miles, then you will be rotating the tires every 6000 miles. I have seen tires do fine on 10,000-mile rotations but then I have seen them wear badly after 5000 miles. It really depends on the vehicle. My personal opinion is 6000 miles every other oil change is a safe bet and easy enough to remember. Not to mention most owners' manuals service intervals are based on 3000-mile intervals and they state to rotate every 6000 miles.