I rotate my own tires and was wondering what points you lift from. I have one floor jack and use a jackstand so one tire is always off once I get started.
I think I recall the manual only showing points for the jack in the truck.

 

Under the axel, to the outside, at least on a 4x4

 

The rear is no problem. Mine is a 2WD and there is very little choice in the front.

 

I use a peice of 2x4 and a 2x2 on top of it to get at the front axel. Very close to the wheel as always. the father in you go the more strees on the axel tube and I always worry about ripping it out of the pumpkin. Lots of weight on thies things.

 

Get a matching spare wheel and do the 5 tier rotation. That way when it's time to buy new tires if you change brands the spare will be of the same type because you will have to buy 5.
Yes it does cost more but then the tires will go longer about 25% longer.