Rotating plants between beds comes to us from large scale farms where the need to rotate for soil nutrient replensihment also gave some indication that if you planted crop A a good distance from the field it was in the previous year problems with insects and diseases was less. Unless you can move your plants a least 300 feet from where they were last planted every year crop rotation is an unnecessary exercise, especially if you get your soil into that good, healthy condition that will grow storn and healthy plants less desirable to insect pests and plant diseases.
If you have trees, shrubs, and perennials growing in the same place every year why would you not move them also, if crop rotation is that important? I have had people tell me that perennials are different from annuals, but they cannot tell how they are different. If you are a "conventional" gardener rotating your plants around might make sense so you don't pollute on bed with all the poisons needed to control the problems that "conventional" gardening brings, but a good organic gardener with a good, healthy soil will not have that much of a problem. If an organic gardener does have problems with insect pests and plant disease they need to look at their soil to see what they problem is because they apparently have not gotten to that good, healthy soil stage, yet.

Anuals reproduce in the same year they germinate. Perennials don't, and because of that, they are able to handle longer acting fertilization. They spend half of their lives underground only, with no top growth to feed from, and they can make a decision whether they want to engage in reproduction in a particular year or not. They can pace their energy consumption. Annuals have top growth their entire life and must reproduce that year. They burn hot and fast. So that is one difference right there.

But the nutrients taken by a heavily root based plant will be very different from a mostly leafy plant right? So over time, without rotation you'll end up with deficiencies - ithout lots of amendments and tests.