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I rotate my tires every 4k miles but only because I have a full size spare. I do a 5 tire rotation to keep the spare close to the other 4 in rolling circumference to make it easier on the Xdrive.
But, if I was still using run-flats or only had a temp spare, I don't think I would rotate at all. In my experience with this vehicle, due to the even F/R weight distribution, you have little to gain with a 4 tire rotation.
I still would recommend taking off the wheels periodically not only to clean off the corrosive brake dust from the alloys, but to clean and lubricate with anti-seize the steel hub that the wheel rests on. Often the wheel will stick and corrode onto the hub if left unattended.
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