I scheduled Tesla to come rotate the tires on my Model S (staggered, plaid) and the technician called me the day before trying to talk me out of it. I asked that they at least come take a look...a different tech came out to the house, said the tires are wearing evenly (they were 5 and 6 front/back I think) and said no need to rotate the tires on a staggered car.
Seems weird, since it directly contradicts the manual, but that was my experience.