Here's how I do it. Plain and simple:

1st Macro (keynumber 1)
/focus <insert master character name here>
/follow focus
Have it on all of your chars. Hit it once and your hunters will keep following your main

2nd Macro (keynumber 3)
/assist focus
/castsequence reset=combat/shift Serpent Sting, Arcane Shot
Have it on all of your chars. Hit first time to shot Serpent Sting on all 5 chars, second time for Arcane Shot.

3rd Macro (keynumber 2) after level 10*
/assist focus
/cast Hunter's Mark
/petattack
Have it on all of your chars. Hit it once to make a Hunter Mark and send all your pets to attack.

If you want to have an autoattack without including it into macro's simply go to:
OPTIONS > INTERFACE > COMBAT > and check "Attack on Assist" on all characters. All your slave chars will start auto attack while pressing "3"

The rotation is simple:
left click a mob >>>> hit "keynumber 2" >>>> then " keynymber 3" 2 times >>>> ??? >>>> profit