You don't need to do rotation, either -- suppose the first nameserver, when up, is consistently faster than the others. Just setting a timeout of 1 is appropriate, then.
A timeout of 1 can result in false positives. 3 seconds is recommended according to the manpage.
Should the occasional false positive be none of your concern, then you still add at least a second to every request. If you make many, that's many seconds.
This is more of a performance optimization and less about a HA solution.
With rotation you also avoid being throttled. If that's not a concern based on the # of request you make then you can simply timeout and go to the next resolver on the list.