Just to throw a spanner into these works:
- North American seem to rotate tires religiously and are told to do so by tire manufacturers.
- Europeans generally don't rotate tires and are advised not to rotate by tire manufacturers.
My conclusion is that the concept of tire rotation (or not) is a belief system, not a technical fact. It may be convenient, so that all of a tire set get worn at the same rate, even if on a different axle.
Of course your dad told you that you had to rotate tires and I understand that there is/was no greater authority on anything than him.
But it may just be that there are really no firm rules on this subject.