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+1 to all above.
Driving conditions, tire compounds, tread designs, vehicle characteristics and alignment, all play a factor. If your particular vehicle and driving style/conditions don't produce significantly different wear patterns on each of the wheels, and you keep it well aligned, you can get by w/ longer intervals on rotation, particularlyl true of some frnt wheel drive vehicles. (After all, if wearing evenly, what does it matter whether the front tires wear at the same rate as the rear or not? Either way, you'll get nearly the same average miles per tire- you may just have to replace the front more often than the rear.) However, if your vehicle and/or driving results in significantly different wear patterns from one wheel to the other (in particular, front vs. rear), then much can be gained by more frequent rotations. (And, they're fairly easy and cheap.) If you can properly change your oil, you can do this in about the same time -with the right equipment.
Don't cheap out on safety -you must have jack stands to support wheels and a quality jack, and this is not an activity to have small children or pets around. (Don't rely on frequent use of the vehicle jack -it's like a temporary spare, it's not meant for hvy use.)
For certain front wheel drive vehicles that are somewhat sedate, some mfrs and tire mfrs note that you can get great service from tires by not rotating them. In those instances, they claim that the rear tires may nearly last the life of the vehicle - of course, I'd be worried about deterioration of the sidewalls after a few years, so I don't recommend that (as well as they'd look pretty crappy). But with rear wheel drive, or agressive handling suspensions and driving, you'll find reduced overall tread life if you don't rotate regularly.
That having been said, most will likely find 5k to 10k effective if they are using standard all weather tires and don't drive too aggressively. Others with more aggressive tires and driving routines may benefit from more frequent rotations (and alignments if they offroad much).
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