I am surely no authority on dual rear wheel tire rotation, but I feel rotating the 4 rear tires is a bad idea. I think it is best to let the 4 rear tires wear down naturally, and replace all 4 when the worst one needs replacing. My reasoning is to prevent adjacent tires of different sizes (due to wear) will distribute the weight on the pair unevenly. The tire with the least wear will be loaded heavier. In extreme-load conditions, it might encourage a blow-out.
As far as front tires are concerned, I feel that it will do good only if you dismount and flip each tire on it's rim, then swap positions on the RV. Rotating them without doing so will do no harm, just not sure how much good will come of it.
Most motorhomes require new tires due to age rather than wear. My tires are now 11 years old, the 4 rear tires are wearing evenly. I have not even removed one wheel cover or lug nut in 11 years. With 36,000 miles in 11 years, I will be replacing them long before they are worn out. Our rig being stored indoors, it does not worry me when it comes time to take things apart.
I understand and accept that my thinking is not always mutually agreeable.