I've changed a tire "in anger" on my motorhome (while on the road) twice: once because a tire came apart apparently due to internal damage or defects, and once because I managed to maneuver too close to a stump and got some bits of wood stuffed up between the sidewall and the rim. I won't say it's fun, but it wasn't a terrible ordeal for me and I thought beat waiting for AAA to find someone to help and for them to come. (I have also had AAA come to change the tire once on the motorhome, the result of cutting too close to a curb not long after I had gotten it, and aside from taking some time to get someone out it worked out just fine. I did not have a jack at the time.)
In any case, I just use a pretty standard bottle jack with an adjustable height center column that can be screwed upwards to increase the height, a 24" breaker bar, and appropriate sockets--and, of course, wheel chocks diagonally opposite. I've done pretty much the same task in my own driveway a few times, too, for various reasons, most commonly because a tire or brake shop didn't realize the big holes in the Centramatics should be lined up with the inner valve stems so you can check and fill the tires.
I have usually just put the removed tire in the middle of the kitchen area, inside the main door of my motorhome, where there's a nice big spot on the floor; it's quicker than cranking it up with the lift mechanism for the spare.