The only ones I have done (that werent on a lift) were manual and 2wd so didnt have a bunch of extra weight. I just used a floor jack for those. I got frustrated trying to get the one for my mitsu lined up on the jack and ended up bench pressing it into place. Cant see me doing that with the rodeo though. If you have the drive shaft bolted to the flange on tranny/xfer case or an output shaft plug you can do it without draining any fluid.
You can usually rent a low profile tranny jack from a rental place. Or, if you have a floor jack that it will work on harbor frieght has a
tranny jack adapter for floor jacks on sale.