where do you put your jack

I posted the question a couple of days ago about what jack is best in lifting a 5er. Now, a bigger question is, where do you put the jack and the lift point. I've read several debates on this on the internet in general. Some say lift by the frame only, some say you could twist or bend the frame and never do that. You should lift using the spring u-bolts. On my 5er, there's not much room, you would have to lift way in front of the tire or way in back of the flat tire if you used the frame. Lift on the axle? Spring hangers or u bolts? Where would you lift? I think my book states to lift by the frame, but to do that I would have to put the jack way in front or back of the flat tire which means you would have to jack higher to get the tire off the ground which means a greater chance of twisting the frame.