Thankfully, my family has a shop with a vehicle lift that makes working on vehicles so much easier - I just have to drive 2.5 hours to use it.
That said, I did pull my factory jack out yesterday to finally get familiar with it. My coworker had a flat tire awhile back and said he was unable to jack the truck sufficiently high enough without using wood blocks. Anyway, come to find out the manual actually tells you to lift the rear wheels up using the rear axle, but not on the pumpkin, which makes sense to me. The factory jack (which is as functional as it is cheap) is molded to conform the axle pretty well.
I ran by tractor supply to see if they had some good jacks, and they had a "SUV" floor jack in the same vein of the pro eagle for $80, and several well-rated bottle jacks in the $40-60 range. Several were just close enough to get sufficient height, one went up to 21", but was closer to a jack stand than a bottle jack. All the jack stands I found were not high enough (all assuming you place under axle).