I often wonder about this.
Last week I swapped my winter wheels/tyres for the summer ones.
As I wasn;t actually going under the car, I used my trolly jack on the front jack points. and lifted it a bit higher so both the front and back wheels were off the ground...nice and quick but not ideal... I have never worked-out where to correctly position axle stands. Points I use are Circled (pic of jacking points taken from manual):
