2005 4.8iS with the factory 20" staggered wheels. I am tired of not being able to rotate my tires because the wheels are staggered?

1) Has anyone considered, or actually made the switch over to non-staggered wheels?
2) Is this even possible or recommended given that the handling was designed with a staggered configuration?
3) If you've done the switch, can you please write about your experience?

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Thank you,

Samer

2005 X5 4.8iS
1989 635CSi M/T