2006 V6 Jack Position(s) questions

I am inquiring where the best jack placement is for lifting my TREG for the following scenarios.

• Left/Right side tire rotation - lifting both the front and rear tires for rotation, front to back.
• Front/Rear - lifting the entire front/rear end for brake/rotor/suspension repairs

Type of jack is a 4 ton floor jack with 2 adjustable jack stands. Now with your expert knowledge on where to place the floor jack my next questions, same scenarios... where to place the jack stands for protection while working on the TREG?

Very much appreciate your knowledge...

Marc