Jack stands to get all 4 wheels off the ground at the same time. I rotate the tires every oil change, and I do oil changes a bit more frequent than necessary, I shoot for 3000 miles but sometimes push to 4500 or so. I realize this is more often than needed, especially with synthetic, but it is what I want.
I have 7 tires mounted, but only rotate 6 of them, the 7th is the original spare still in place under the bed. The 6 I use are KO2 load range E tires, the original spare is a KO2 load range C, so I don't mix it in under normal conditions. However, the 6 I do rotate I treat just as I would if I only was rotating 3 axles. Mine go back to front, same side, and front crossed to rear. In my case I treat the two spares as if they were a second rear axle. So the crossed wheels go to the two spares, and the two spares go to the rear, having been crossed last time I took them off.
A point to consider, use the right 6 point 21 mm metric socket. A sloppy 12 point 13/16 inch standard may fit, and a 7/8 inch definitely will, but the 7/8 will have excessive slop and will mar / ruin the aluminum skin of the factory lug nuts. Also, if you take it to a tire shop, make sure they use the right socket for the same reason.
T!