Rotating your tires every 5k is just good tire maintenance. I doubt that Toyota could prove one way or another if your tires had been rotated or not. If you miss a rotation and do it at 10k, not a big deal.
I'm kind of ambivilant about rotating the factory tires because they are nothing to get excited about. I have rotated them once so far. On top of that dealers actually charge to rotate the tires, but once you get better tires you purchase,the rotations are generally part of the service you get from the tire dealer you are buying from. It is garbage that dealers charge to rotate tires, they are the ones that sold you the tires with the car.