I haven't done it yet on the '00 Rodeo I just purchased, but I will within the next couple weeks. When I do replace the filter and the fluid, I plan to put jack stands under both ends and have the entire truck off the ground. As long as your jack stands have a big enough base and are rated for the load - average available is at least 2 ton you will be fine. Just place them correctly and try to rock the truck to make sure it's stable after each set of stands you place. I've done this to real trucks that weight close to 6,000lbs with no trouble - just pays to have good trustworthy jack stands.
FWIW