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Recommendations for tire rotations vary from 3000 to 10,000 miles. It's a pain to create a specific cycle just for tire rotation, so I rotate my tires when I change the oil. It seems to local Goodyear and Firestone stores always have coupons for oil changes, kind of makes up for the charge for rotating tires.
Need for balancing is usually indicated by vibration, although vibration could be a more serious problem. Once again re-balancing recommendations vary, if there doesn't seem to be any indications of a problem I tend to only do it once, around 30,000 miles. They might be out of balance again by 45 or 50,000, but I figure I won't extend the life enough to justify cost, especially since it seems like when the tread gets that low I always pick up a nail close to sidewall and I decide the whole set is ready to go.