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I stopped rotating 10 years ago. In theory, it makes sense to rotate to even out tread wear. In practice however, you run the risk of inducing vibration due to the unique wear patterns of each tire, which balancing doesn't always eliminate. Probably the reason BMW doesn't recommend it. I also found treadwear so close at replacement time that I preferred to just buy four new tires. Just applied the rotating and balancing money I saved to the new tires.
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