I'm not sure I'd classify Torrey Pines as in the US Open rotation, being that their second hosting is still 5 years a way. I believe the USGA does have an informal rotation; with venues like Pebble, Olympic, Shinny, Oakmont, Winged Foot, and Pinehurst being the 6 pillars, which allows for the inclusion of new courses or old favorites to be intermixed periodically.
The Pga championship has established a similar model in recent times; They seem to have designated Whistling Straits as their lead venue, while utilizing courses like Atlanta Athletic and Valhalla on a once every 10 year cycle. They will be doing the same with Oak Hill in 2023.
One of the elements of the Masters that makes it so successful is the redundant history of Augusta. Every year you know what you're going to get and every year you're seeing players walk down the same fairways and hitting the same shots as the greatest that have ever played. The familiarity of the venue is presented like you're getting to see an old friend you haven't seen in a while. When the US Open returns to their storied venues the feeling is much of the same and the week ends up being both about remembering the past and looking towards the future. The PGA has a long history of traveling to new, untested, venues. Sometimes they work and develop their own place in major championships, sometimes they don't. Looking at the PGA schedule for the next 7 years you see an interesting mix of venues, Most new to major championship play few old standards.
I think the PGA has a great opportunity to put together a great stable of courses to pick from that can extend well beyond what the USGA utilizes. Being they are not afraid to let players go low, they are open to many more venue possibilities, but they need some more old friends that they visit on regular intervals.