+1 would like clarification on this also. Have scoured the web and only have found one or two videos of Taco owners jacking from the center of the frame and placing 2 jack stands on one side. (to do the front to back tire rotation)

The only other info for the 4r I found was someone mentioned jack from the front center Toyota suggested point, place one jack stand (ie on the pass side) and lower jack.
Then jack from rear pumpkin (Toyota recommended) and place one jack same side under the diff axle (Toyota suggested)

Wondering if there's too much twisting doing this as your jacking the rear up with only one side of the front on a stand. I guess I could just get 4 jack stands and lift it all up evenly. Thought having one side on ground feels safer though.

That was my other option. I was afraid too if that would cause too much twisting.
Or I can start from the rear by jacking up the rear pumpkin and place a jack stand under the diff axle (ex. passenger side). Then jack it up at the frame at the front passenger side and place a jack stand there. Would that cause twisting as well?

For a rotation, why not just put a stand at both front frame points, then use the jack under the rear axle to change each rear tire. Seems like the easiest route. Hell, maybe put the jack under ther rear pumpkin then you're done.

If I do a front to back swap, I just put the jack in the middle of the frame and lift the whole side.....swap tires and move to the other side. If I cross, I lift the front side and put a stand and use the jack on the rear axle and swap, then do the other two. I have two jacks and can just lift the whole thing at once If I want to cheat! A Harbor Freight $59 lightweight makes a great second jack and makes everything easier. I ground one of the 4 ''tabs'' on the lift point to fit in the hole in the bottom of the lower arm and it locks in and lifts one front wheel securely and can;t fall off.

I thought about doing that as well, lifting from the center of the frame to do a front to back swap. I'm assuming that wouldn't damage the frame.

No problem.....that's why Body on Frame is the way to go! Toyota boxed it and gave it strength!

Jack it up here on this bracket that’s welded to the frame. Use stands!

Attached Images

 

Jack it up and find the spot that lifts front and rear evenly and I marked it with a spot of Day-Glo orange paint......now I just roll the jack right to it and lift.