I've only lifted the whole camper a few times (each day for a week while we dealt with frame damage). If I recall, we put jack stands behind the axles and then had the front of the camper supported by the landing gear.
If I recall correctly, put put the jack stands behind the axles and then raised the front of the camper until there was weight on the jack stands.
Then I proceeded to remove each wheel.
To remove a wheel, I'm not lifting the whole camper, I'm just lifting the tire. Rightly or wrongly, I do that by putting a jack on the axle between/next to where the U-Bolts connect to it.
(And yes, I know there's debate over the safety of putting the bottle jack on LynxLevelers like that.)