I carry this jack in our Class C motorhome:
http://www.amazon.com/Torin-2-Stage-Hydraulic-Bottle-Jack/dp/B00028FB8QI like "overkill" lifting capacity, thinking that a higher capacity jack may stay leak-free and hence more reliable, longer. Also note that the jack in my link has a 2-Stage lifting range ... but still not tall when fully retracted for placement under low lift points on your vehicle. The increased lifting range means that it can lift higher, so that in soft ground it's base can sink deeper into the ground (even with a footing board under it) and still lift. Higher lift also means that perhaps in some situations the jack could be used on the RV's frame instead of only on it's rear axle or front/rear spring mounts.
I can use our 2X6 wooden step leveling assemblies for jack footing in very soft stuff, if ever needed.