Do I just change front to rear on each side?

 

I like to crisscross tires these days. There were many years when radial tires were said to take a "set" and it was preferred to keep them aimed in the same direction, but I don't think this has been an issue for years. Alternatively, on a RWD truck, rotating front-same-side to rear, and crisscross rears onto the front is a good pattern as well.

If you're running directional tires of any kind, gotta stick to front->rear rotations, though.

George