If you have the space, one of the high lift floor jacks from Pro Eagle or Harbor Freight would be ideal. For my 10k truck/camper, I have a 6 ton bottle jack along with jack extensions from Safe Jack and that works very well. I also carry some 2×6 boards to place under the jack for stability and have used it on a number of surfaces.
I’ve also used the ubiquitous high lift jack but they are a pain to store and dangerous if not used correctly. I have one of the Australian air jacks that you fill with the truck’s exhaust and it works very well but when collapsed, is the diameter of a tire so storage is an issue. It’s very safe and can be used on a variety of surfaces but if the vehicle won’t run, it’s useless.
Hope this helps.