"Similar circumference" usually means within ±5% or so in OEM circles. On the vehicles I am involved in engineering it is well above that before we get out the worry-beads. Tread depth variation will be much, much less than that even looking at a new mudder vs a fully-worn highway tyre. On a typical ~Ø30" D3/4 tyre the difference would be well under 3% (ie. brand new to fully-worn) and you'd likely see that with differences in tyre pressures and loading differences front to back anyway. I wouldn't condone nor ever run heavily worn tyres anyway. Nor would I condone running a significantly dissimilar-sized spare for any distance or time or speed. I don't run my tyres down below about half tread depth as a personal choice.
Up until recently my off-road vehicle hasn't had clutch packs anywhere outside of the auto so a moot point for me. The LT230 doesn't care at all, nor does my Detroit locker, nor my Trutrac. And for my newer vehicle that has clutches, I have zero concerns over small variations causing slight relative differential speeds. The effect of one tyre on one corner is halved at the transfer case anyway. Plus there are benefits to having the clutches slightly rotating (not whizzing around, but very slight relative movement) as this gently wipes the friction surfaces and can sometimes have a beneficial effect renewing the 'cushion' interface and pulling fresh oil in where it would otherwise get squeezed out over time. The amount of wear that a wet clutch sees under light load, low-speed motion is somewhere below negligible as it's mostly viscous drag rather than surface-to-surface friction. You'd do more damage turning into your driveway... I've dealt with wet clutches that have developed serious issues because of a lack of relative rotation and relatively high loading. It's almost akin to galling, to visualise the concept.
I have absolutely nothing against five, or six tyre rotations at all. I don't think it's a bad idea actually as it stops the spares from ageing and means you refresh the whole set at the appropriate time. But I don't believe that it shouldn't be justified with a fear of damaging the drivetrain in any way. These things just aren't that fragile or sensitive to these minor effects.
FWIW I have five identical wheels and tyres on the new L320 and I'll likely rotate the lot as the spare will need to be deflated and squashed up in there. This will give them all a turn. it's only fair really
DiscoClax
'94 D1 3dr Aegean Blue - 300ci stroker RV8, 4HP24 & Compushift, usual bar-work, various APT gear, 235/85 M/Ts, 3deg arms, Detroit lockers, $$$$, etc.
'08 RRS TDV8 Rimini Red - 285/60R18 Falken AT3Ws, Rock slider-steps, APT full under-protection, Mitch Hitch, Tradesman rack, Traxide DBS, Gap IID
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