If we examine how the chain and sprockets interact we might get some insight into maintenance, rotation and replacement approaches.
Since we know that a given chain link, will cycle over the same sprocket teeth in a predictable interval, depending on the product of sprocket size and chain length, then we can assume that chain and sprocket wear will follow this pattern.
To improve tooth (and chain) longevity, wouldn't it be sufficient to simply jump a tooth every so often. In this way, the wear is spread more evenly over the length of the chain, thereby tremendously increasing a chain's lifespan. Ultimately, if chain lifespan is extended to its absolute peak by this rotation method (say twice as long wearing as without rotation), then when it finally comes to chain replacement, isn't it
more likely that the sprockets would also need to be replaced as well?
If you agree with that logic, then it might be true that chains and sprockets should
always be replaced together. What we haven't been told is that chain rotation is needed to make that worth while. - just a theory