I don't agree with this - putting on a spare that is a slightly different size for a short period of time prior to getting a tire fixed has a very low probability of causing drivetrain damage. Both the center and F/R differentials allow for variable speed between each diff and from wheel to wheel - speeds are very different any time the vehicle is turning, on a curvy road, backing up, etc. This could be a concern in a MT Subaru that uses a viscous coupling that can overheat if the F/R speed differential is too much, but I don't ever see it being an issue in a vehicle with a robust Torsen center differential like a GX (assuming it's not something like a 31" tire on one corner and a 34" tire on the other).Except tires age out, the rubber gets hard. With full time 4 wheel drive If you have say 25,000 or more miles on the set of 4 and you use the spare with like new tread depth you have potential to cause drivetrain damage.
I personally have a 255/75R17 spare and 265/70R17 tires on the rig. Later this year that will be 285/70R17s on the rig. The 255/75R17 is midway between both and fits in the OEM spare location with only occasional rubbing on the panhard bar. It's sole purpose is to get me either home or to a tire shop after a catastrophic tire failure, that'll never ever be more than 200 miles and more often <50 miles. I've used my spare exactly once in 3 years of GX ownership and that was for all of 2 miles after developing a slow leak (sand in the bead from donuts on a gravel bar).
I do see the benefits of a 5-tire rotation for big/expensive tires, especially when they are mounted on the back of the vehicle, but it does not make sense for me personally. This is due to the cost of a aftermarket 5th wheel vs. a cheap takeoff steelie, and the fact that a I'd replace tire 5 more often than just proactively replacing the spare at year ~5-8 (or maybe longer if it's still holding air w/o dry rot), and general pain it would be to pull the spare at every 5K rotation and get it in the mix.