Jack from the frame but make sure its at an intersection of a cross beam. (two beams).
I jacked on first beam I could find and saw a slight bent mark so I go for cross beams right in front of tire. Also make sure to buy a torque wrench and torque nuts to spec. I use 70foot lbs on my alumunim rims. Make sure your wrench in foot pounds and not inches.
2011 Jayco 165 sport
2001 jeep grand Cherokee