Best place for jack is under the end of the axle tube, just before trailing arm attachment point. This will lift axle and tire without extending the suspension. This also depends upon what the ground is like where vehicle is parked. If ground under axle is soft, you can place the jack under the chassis to avoid having the jack fall over or sinking in. Or, if you can, move to more solid ground. What's more important is where not to put the jack...never place it where a suspension arm is attached, on a suspension arm that will change angle as it is going up, on a floorboard or anywhere it will crush a brake or fuel line. If you travel where ground is usually soft, carry a 1" thick 20x20 square of plywood (I carry same made from 1/2" steel. Use it under the jack to spread the load). Though "factory" jack will do the job, I suggest you invest in a halfway decent floor jack with a locking pin (a bit more reliable and safer)
Jacking points on all Jeep vehicles
Your Jeep was supplied with a jack for emergency road repairs. This jack is fine for changing a flat tire or other short-term procedures not requiring you to go beneath the vehicle. Do not attempt to use the jack on any portions of the vehicle other than specified by the vehicle manufacturer. Always block the diagonally opposite wheel when using a jack.
Placing a floor jack under the front frame rail
Placing a floor jack under the rear frame rail at the leaf spring shackle. It may be necessary to place a block of wood between the frame rail and the jack
Supporting the front of the vehicle with jack stands placed under each frame rail
A more convenient way of jacking is the use of a garage or floor jack. You may use the floor jack at the specified points in following the illustrations.
Never place the jack under the radiator, engine or transmission components. Severe and expensive damage will result when the jack is raised. Additionally, never jack under the floorpan or bodywork; the metal will deform
Support the rear of the vehicle using jack stands placed underneath each side of the rear differential (inset photo)
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