My goat areas are not rotated - and I haven't wormed my goats in at least two years.... once your ground is clean (and it will be if it didn't have goats or sheep on it in the last years or so) and you make sure that any new animal that comes into the holding has zero worm burden, then there is no need to rotate. Depending on the size of your grazing, goats will not eat it down in the way sheep do - they are much more interested in branches, shrubs and weeds (like thistles or docks).
Also my goats stay inside over the winter - there is no valuable grazing out there (as in grass no good anyway), it does rest the pasture and I am on heavy clay, even the sheep can poach certain areas - where the hay racks are for example. Goats will go through significant amounts of hay in winter.
Goats are miserable in wet and cold weather - so an airy inside area is much better for them, and let them out for a run around on nice days (when there is no frost on the grass as it can lead to sore stomachs...)