The e53 you can jack the front right in the middle of the axle to get both sides on the jack stands at the lift points, the rear diff is usually ok as a lift point though some chassis models it's said no-go.
From the TIS for my model.
I have seen both ways for different models of e53 ; there is a very solid part of the rear subframe that I've used to lift the back of both e53 and e70 from the center.