I guess it depends on the dealer. I know the one I use do as I had a video from them showing all 4 wheels off. But as Vengablue said. I bet many do not on services, as they will be able to see all they need from under the car on the ramps.Can't understand why they'd charge if they take the wheels off to properly examine the wheels, calipers and pads anyway.......
Never asked them to rotate wheels (swop front to back) for me. So do not know if they would charge.