Lol man I don't know about that. I've done a ton of stuff on the ground. A lift makes literally everything easier. I've never seen a tire shop rotate tires with a floor jack and stands because it's faster or easier. When I rotate mine the right front goes on the left rear, left front to the right rear. Then the rear tires get moved to the front. To do that with out a lift the whole truck has to be on stands. That's jacking the front and rear up and placing stands. Then jacking again to remove stands.
With a lift you just pull in swing the arms under and push a button, lol. I added a arm braces to my SxS. Same deal. Instead of putting it up on stands to pull all the suspension bolts. I just put it on the lift in one step. Of course if you need it, is one thing. But man does it make stuff easier and faster. The work is the work vs just getting it ready to do the work being a job by itself.
You only need three wheels off a rig at a time for a cross rotation, two if you do a FR rotation.
Jack the rear 1 inch off the ground, place two jack stands under axle and lower the jack but don't remove it. Jack the front with a second jack, now put a third jack stand under the side you want to remove first, but don't drop the jack. Pull one front and two rear tires, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz (that's 24 lugs on the ground). Do your cross and put the right side tires back on. Use a torque bar to get them seated properly. Now move to the left side place the third jack stand there don't drop the jack and remove the tire, buzz, buzz, buzz, buzz, buzz, buzz, buzz, buzz (that's 8 more lugs). Finish your left side tires and hit them with the torque bar. Now pull the front jack stand and jack. Jack the rear back up, pull the rear jack stands, drop the jack and pull it.
Now torque them to 140 foot lbs with a good wrench and reset your tpms. Then retorque after 50 miles.
The tire shops I go to don't use lifts for big trucks, it's always jacks. I only rotate mine every other time, because I like to check the balance.
Also don't forget to properly train your team when they still weigh less than the tire!