Three-dimensional simulations of field reversed configuration (FRC) formation and sustainment with rotating magnetic field (RMF) current drive have been performed with the NIMROD code [C. R. Sovinec et al., J. Comput. Phys. 195, 355 (2004)]. The Hall term is a zeroth order effect with strong coupling between Fourier components, and recent enhancements to the NIMROD preconditioner allow much larger time steps than was previously possible. Boundary conditions to capture the effects of a finite length RMF antenna have been added, and simulations of FRC formation from a uniform background plasma have been performed with parameters relevant to the translation, confinement, and sustainment-upgrade experiment at the University of Washington [H. Y. Guo, A. L. Hoffman, and R. D. Milroy, Phys. Plasmas 14, 112502 (2007)]. The effects of both even-parity and odd-parity antennas have been investigated, and there is no evidence of a disruptive instability for either antenna type. It has been found that RMF effects extend considerably beyond the ends of the antenna, and that a large n=0 Bθ can develop in the open-field line region, producing a back torque opposing the RMF.