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Comments
I don't know what the average driving habit is, but for me, I spend probably about 0.05% of my time parking and 95% of my time on the freeway.
With that said, the main reason we rotate our tires is because the streets are bowed to allow for rain run off. This causes your tires to wear unevenly on one side. By swapping your left and right tires, you help your tires wear evenly. Swapping front and back is important too, but not as important as side to side.
I believe the correct pattern is to bring the front tires directly back and swap the back tires as you bring them forward. Over time, they will enjoy the tread patterns of all four spots on the car.
Thus, to do it properly, you cannot do it yourself with out a full car lift. You can however do the next best thing, swap the left and right tires by lifting the front or back end.