Maybe it's overkill or the fact that my previous Nissans ate through tires like a fat kid licking the cream off an oreo but I rotated every 2000 miles
I've since changed that with the 4Runner, can't speak for the V6 guys who leave their trucks in 2HI but after some reading I found that the AWD system with the traction control really keeps the tire wear even, so much so that I let the Dunlops go to 5500 miles before I decided to rotate them (that was a 1st) they are wearing even, shocks me how even they are, I know the Audi's with the Quattro AWD rotate their tires every 15-20k and I think someone on yotatech mentioned after he rotated at 15k the tires still looked excellent.
My neighbor had a 2nd Gen 4Runner and a 3rd Gen now, he never rotates and gets crazy mileage out of his tires, I really think Toyota knows how to evenly balance the weight and align these things properly.
My ES300 I still rotate every 2000 miles but because it's FWD and it has performance tires on it but I might extend the rotation to every 4000 miles cause the tires don't seem to be wearing, remember the Nissans haunted me with tire wear.
Now I've never had my wheels rebalanced, 1 you don't need to unless you loose a weight and you pick up a vibration or shimmy and 2 the only thing it does is destroy the lip on the rim cause the techs beat the hell out of the wheels to get weights on and off, my 4Runner needed an alignment at 8000 miles, my dumbass took it to toyota thinking they would do a perfect job, got the truck back with 4 scratched rims, minor but it pissed me off, lession learned that next time skip the free work and pay 40 bucks to the guys who know and respect me and baby my rig, I've never had a damaged rim until my 4Runner and thanks to Toyota all 4 are equally damaged.
My Nissans ate through tires, their problem was they could not correctly align a car which was an obvious flaw but Nissan never had the balls to step forward and make a fix, my x-gf 350z was never driven hard except for me and the front tires had the same issues as my 96 Pathfinder, my 00 Pathfinder seemed to be fixed but then a 2000 Maxima I had destroyed tires, seemed it was either or with Nissan, they all had tire problems