I rotate my tires as it is stated in the Raptor Supplement Owners manual on page 45.
On the GEN1 the manual stated to rotate every 5k miles which conflicted with the 7.5k mile oil changes in the normal F-150 manual. Personally I change my oil every 5K miles and did the tire rotation then. I see now that my 2020 supplement manual no longer states at 5k miles but during the schedule oil change, which under normal conditions is between 7.5k-10k miles. I will plan on 5k changes and rotations like I always have on my GEN2.
I would mark the tires to see how it was done. Both dealerships that I have gone to have failed to rotate the tires correctly even though I would have the page open to how to rotate them. After being unable to trust a dealership, I purchased 4 jack stands and jack and just rotate the tires myself anymore.
Here is what it showed in the GEN1 supplement manual