If I recall the RAV driver's manual explains the fashion by which the tyres should be rotated. I religiously adhere to rotating tyres, and have done this as part of the first 10,000km service - front wheels to rear, rear wheel to front. The car was pulling slightly to the left when I first collected it, it now tracks fine though. Reaching 20,000km in about a month or two and will certainly rotate the tyres then.