There may be a disconnect between what is theoretically right and what most car owners do.
Putting new tyres on the rear may be technically corrent - but as noted means you go through the hedge on full understeer facing forward (if you drive like a clown and/or it's very icy)
But from the day a new car is driven off the forecourt, front and rear tyres wear at different rates.
Most simply replace whichever tyres are worn, ideally as an axle set. Some swap rear to front following advice (possibly from the tyre fitter) to fit new tyres on the rear. A very few routinely rotate tyres either at services, or with extended service intervals, between services.
In truth I suspect the real safety benefit comes through replacing tyres well before they get close to 1.6mm - I usually change at 2.5-3.0mm particularly if autumn is approaching!
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