I have the tools and the know how to do it myself but I always get tires rotated at Discount tire.

With the new covid rules they don't even make you get out of your car. My son and I took my wife's 18 Durango R/T for a rotate and balance a few weeks ago. We sat in the car and they did the whole job in TWELVE MINUTES that is rotate and balance and torque the wheels with a torque wrench. Our total time on the property was probably 15 minutes.