For years I jacked them up front under the crossmember below the oil pan. On one of my pickups, this crossmember eventually got bent. The Yukon's is fine. Now I place the jack under each lower control arm and lift that side and place the jack stand on the frame as specified in the manual.
If the rotation will be quick, we just put the floor jack under the pumpkin and lift the truck, the front wheels are chalked on both sides. If not, we'll either place them under the axle tubes or rear frame in front of axle depending on what we're doing back there.