I had Rivian mobile service rotate mine and it was only $65. Worth it for my situation. My service tech said 6k miles for street tires and 5k for all terrain tires.
2020 YT Izzo Pro. Perfect bike for Florida trails. I'm using a Race Face tailgate pad for transport. I can never get it (never have the patience)= to really sit perfectly straight due to the curvature of the tailgate but it's a great pad.