Regular Maintenance on 2010 Chevrolet Tahoe Hybrid

How often should the oil be changed. I have heard at 3,500 and then at 5,000 an oil change/tire rotation and inspection and have also heard, just wait until you have little "oil life remaining."
How often should the tires be rotated?

Asked by for the 2010 Chevrolet Tahoe Hybrid
Using Mobil 1, I have the oil and filter changed every 5,000 miles.