rotating tires

[f5fstop]

Personally, I never rotate the spare, but that is against what they specify. I will say that if you only rotate the four on the ground; you do not have to relearn any tire pressure sensors. If you put the spare into the mix, you have to relearn sensors, since the spare is a new sensor to the system.
For a 4-tire rotation, rears go straight forward, and fronts go to the rears diagonally.