how crop rotation works ? So you do not have to start plants and your garden from scratch each year
Crop rotation is a technique for annual plants, so the plants will have to come out eventually any way.
You can still plant annuals around perennials in the same bed, and manage the annuals with crop rotation while leaving the perennials be.
Personally I tend to avoid mono-cultural 'crops' anyway, and just go for diversity of species across both time and space all the time.
The Australian City Farms & Community Gardens Network have a great little factsheet on Crop Rotation you might like to download and read: