For service work (suspension, tire rotation, etc.), I use this air jack I picked up off Craig's list. With 150psi air it will raise 4000 lbs to 27 inches, with positive mechanical lock stops every 4 inches or so. And, with the wide stance, it is rock solid. I still put jack stands under the frame if I'm going to be under the vehicle with wheels off, but it's a really great tool. Definitely one of the best investments I've made in terms of safety and capability.
With it placed under the front jack point, it will lift the wheels 9" clear of the floor. It will also lift the vehicle by the frame from one side, which is great for rotating tires front to back.
I have a floor jack as well, but I use it now more for jockeying suspension arms into the right place, or similar things.
For offroad, I carry the OEM bottle jack, plus a hi-lift, wheel lift attachment, and a couple of small jack stands and 12x12x4 wood blocks.