[Golfmedik]

I usually rotate the front tires side to side only as the rears should wear fine. For the newer trucks with only 4 aluminum wheels and two steel inner wheels, by the time you pay to have them broken down, dismounted, remounted, rotated and balanced every 5-7k miles, you've just about paid for a set of front tires.
As for tire pressures, I run 65 in the rears most all of the time and 75-80 in the front as my truck does mostly pulling. With these pressures, the ride is decent. Many will run max pressures constantly though to keep from having to air them down and back up again. I would suggest that you check all of them each time you tow heavy though.