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I've rotated mine twice myself. I just jacked up the R rear and placed a jack stand under the axle. Then just moved my floor jack around to each until finished. Rotated as per the owners manual. Look at owners manual for jack points, especially on the front. Make sure you have a torque wrench. Took maybe 30 minutes just because I was inspecting brakes too and taking my time.
Just like ASTS2004 said, simple and easy. I Take it one step further, while I am rotating I srub and polish the tires and rims front and backside. They shine like a new penny and the wax makes for removing that pesky brake dust a snap when you normaly wash the truck.
3000 mile oils changes and every other oil change I rotate the tires. Best medicine for any vehicle.
What do you think about using a shop floor jack on the diff. housing, like on older vehicles? For instance I've got a '81 Dodge Ram van (150), and I have been using for years, a front-end & brake shop that jacks vehicles like this up at this point, because they won't trust the old bumpers (understood) and don't have any other racks. I think I will ask for them to use the frame side or under axle. But believe me they have had this van up in this way before. It seems like a lot of weight on this housing