Thoughts to consider.
I have read many times from Lippert and RV manufactures that you should only jack the RV up from the frame but I suggest everyone consider why they say that. The answer I believe is that an axle can be damaged if you improperly jack up the RV from the axle, especially the closer to the center of the axle you are. If you do jack up the RV from the axle and damage it then I believe you will find the guidance to not jack up the RV from the axle is that such damage is on you and not something the warranty will cover.
Having that in mind, an axle that has the leaf springs underneath and if you jack up the rv from the leaf spring plate, the load of the RV is being distributed to the frame via the leaf springs. The axle is merely resting on top of the springs and in jacking at that location will create to no risk of damaging the axle. In fact the axle loading would be less in that scenario as the axle is simply resting on the spring pack. When the axle is below the leaf springs more care needs to be taken, a jack cradle that fits the axle or directly on the U-Bolts will help distribute the load. I would prefer to have a jack cradle that fits the axle tube diameter exactly if possible perhaps with a heavy duty rubber section between the jack cradle and axle tube especially if the cradle is not a perfect match for the axle diameter.
While jacking from the frame is recommended, the recommendation is to protect the axle and not to protect you. For those who have jacked up the RV from the frame and those who may plan to do that, you will find that you need a very high lift jack or blocks of wood under the jack in order to jack up the RV enough to change the tire. When you do that you will notice that the RV is leaning a lot and in many cases very unstable. Jacking from the frame especially if you are on the side of the road that is not perfectly level increases the danger especially if the side you are jacking is the uphill side. Not only does this create a danger for the jack to slip out from the RV but also puts a lot of stress on the suspension for the side not being jacked up.
In any case, just thoughts to share and for sure never jack up an RV from the center of the axle (or any further out from the tire than required) and if you jack up at the axle, have the jack under the leaf spring plate, or at least leverage the carrier U-Bolts but again in the case the axle is below the leaf springs it would be much better and safer to have a cradle that matches the axle tube diameter and the cradle cup matching the jack lift piston diameter and jack the RV no higher than necessary. ~CA