Cross-rotate, got it... That's how I do all cars, modern-day tires will handle spinning in the opposite direction no problem. Not recommended with directional tires, obviously.Yes. But to do a proper AWD rotation... rear wheels go to front (on same side)... front wheels go to opposite side rear locations. The only way to do that is to lift the entire car and do all four simultaneously.
So, I use the floor jack at the front center lift point... slip the front jack stands in. Then floor jack at the rear center point and slip the rear jack stands in.
I still use two jacks: jack the front, remove tire, jack the rear, bring rear tire to front and mount it, move and jack the other front, bring to opposite rear and mount it, lower rear and bring jack to other rear and remove tire, bring to front and mount it, mount front from opposite side on rear. The jacks go from one side to the other.