The axle tube is very thin-walled and if you lift under the tube, you are likely to bend the axle. Don't do it.
True for a torsion suspension with those thin square tube walls but not for a round axle tube on a std leaf spring suspension. Axle manufacturers say not to use a jack under the axle simply because some newbies placed the jack toward the center of the axle and of course bent it.
Jacking the axle next to or a few inches from the U-bolt will not bend/crush a axle tube that can have up to a 3/8" thick tubes.
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I use a shorty hyd jack under all of my trailers (not just a RV) axle tubes from 1750 lb up to 10000 lb axle tubes even when fully loaded. No issue from doing so.
I've found it much safer and less stress on equipment/suspension to simply raise one end of a axle a bit instead of the whole side of the trailer just to change a tire/work on a wheel/etc.
Now if I'm at home on my concrete pad I jack from the frame and block the frame when working on both axles on one side.