I was told several times (customer service, the manual, and the service center) to never rotate the tires. Michelin disagreed and it didn't make sense to me either. I rotated and balanced at 11K miles and 26K.
I now have 50,000+ miles on these original 19" Primacy 4 tires and they are at 4/42 in front, 5/32 rear. I won't rotate them again, as they are near their end and I want to get my Pirelli Elect All Seasons on for the rest of the winter and then just keep them on. The tires are directional, so yes, just swap the fronts and the rears. Even regardless of the rotation, they need balancing at some point.
Your four 19" tires are all the same size, but your rear rims are wider than the fronts. Any decent tire shop will do it right, just remind them.
For your first service, if your wipers are not worn out, just tell them to give the new ones to you and put them on yourself when your current ones do wear out! I regret not doing that as the wipers are $60!