I used a standard lift 2 ton trolley jack, and four jackstands on the second pin. There is a lift point under the centre front, and at the rear you can do one side at a time from the side, or on the diff with a pad if you are careful. It isn't a high vehicle, so standard automotive jacks work fine. I lifted it to do brakes, never to rotate tires. My question is why would you want to rotate tires? I found the tire wear very even, with no rotation and no signs of needing it after 70,000 km (45,000 miles), when I sold the X5. BMW doesn't recommend it, and in my case I think they right.

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2007 X3 3.0si, 6 MT, Premium, White

Retired:
2008 535i, 6 MT, M Sport, Premium, Space Grey
2003 X5 3.0 Steptronic, Premium, Titanium Silver
2002 325xi 5 MT, Steel Grey
2004 Z4 3.0 Premium, Sport, SMG, Maldives Blue