Curious what others say, as we also drive our vehicle <5,000 miles/year.
To date we've followed the 'maintenance minder' which has us changing the oil ever 12 months (roughly after 4,000 miles), but the oil always looks good given the low miles driven. I have no idea why they recommend an upper limit of every 12 months. Since I do it myself my annual out of pocket cost is about $25, so I just do it, but... do I need to change my oil every 6 or 12 months?
To answer your other questions, we rotate our tires whenever we switch from our all-seasons to snow tires (we run two sets due to our location) but otherwise we do all other servicing based on mileage, which for many things can be several years (e.g. timing belt, spark plugs. I check the fluid levels (oil, coolant, brake, transmission) almost every time I fill up, since this can sometimes be a month apart and it takes me < 60 seconds to complete (and it's an older vehicle). The battery we replace after 3 years because it's friggen cold here in winter and a 4 year old battery - even gently used - doesn't like to start when it's -20º and the car is dead cold. Interestingly I spend more on car batteries than I do on DIY oil changes. About once-a-year I remove the air filters for the cabin and engine and check to see if they look dirty (they rarely are); i replace those maybe ever 3 years, more because they start to feel brittle than they get clogged (my owners manual says every 20,000 miles in a dirty urban environment - most of my driving is in rural areas).