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Depends on the wheel mfg. ....and if you're using the stock steel wheels, those you can. I think most of the aftermarket alum. wheels are front and rear specific but I could be wrong on some. My American Eagle 20" wheels are that way but you can still switch the wheels side to side just not front to rear.
I can't speak for the 17's but on my 12 the outer side of the aluminum rim is polished but the inner side is milled. I didn't realize this until I took mine to the dealer for rotation and the young tech had the rims all turned around. I had to explain to him and the manager that there's a smooth side and a rough side. I believe in the owners manual for drw's it says to rotate tires side to side unless you want to dismount the tires to be able to rotate front to back.
But I assume in an emergency situation any rim that comes with the vehicle can go on any axle including the spare. But cosmetically with my stock aluminum rims, the fronts are the fronts and the rears are the rear.
This is my first drw and I've just been swapping from side to side. I've only got 31K on the truck and still on the original set of tires and they look pretty even from side to side and from to back. Not sure if it's worth the time and $ dismounting them for every rotation. You'd really need to keep a log of which location each tire has been. I know I'd have a tough time remembering. I guess we'll need to wait to see what other more experienced drw owners have done.
I have had 4 drw fords so far my latest is a 2011 f350 and a always rotate side to side every 2nd oil change I know have 60,000 miles on it with the original tires and they still look good dealer checked them before giving me trade in price.
2017 f450 on order
Marc