Are you wanting to lift both ends at the same time (four wheels off the ground)?
Its much safer to use four floor jacks under the body lift points. Otherwise this Jeep is heavy and independently sprung. You will need a heavy duty and stable floor jack with a long reach to center the rear, the front is even heavier. Then any false move and there is a chance of rolling off the jacks..... :frown2:
I rotate using two jacks, lift one wheel via a jack under the control arm just enough to pull the tire, go to the next wheel and with a second jack, jack it up just enough to remove the wheel (via jack under lower control arm). Install the first wheel, lower, go to next wheel repeat. If you only have one jack, use a jack stand for the first wheel, or install the spare.
Or go to a shop and pay them $25-$50 to do it. On purchased tires, the shop usually rotates for free.
FYI, the OEM full size spare is full size only with respect to diameter and width. Its a narrower tire and steel wheel. Then there is no TPMS sensor in it.