I do an alternating pattern of front to back and then left to right on my vehicles with four tires. Every 5,000 miles makes it easy to remember. 75,000...80,000...85,000...etc
My Jeep has five tires in the rotation. Two of them were replaced and have a bit more tread than the other three. So I put those two on the front and go left to right, while cycling the rear tires and spare tire position in an effort to get the tread depth even again. I do them every 1,000 miles because I hardly ever drive the Jeep.