I've always rotated the tires using two Prius jacks. It really isn't that much extra work to have the second one there, and I do them each several turns then do the other one. Also, it probably isn't necessary, but I always try to avoid opening any door or hatchback when any car is on jacks.
One benefit or rotating the tires myself is that I always get the little stones out from the treads, it always seemed to be unnecessary as other stones will just get right back, but I always did it anyway. This last time, on the outer edge, I noticed it was difficult to remove one, and as I worked a bit further I saw it was a small piece of metal in the tire. I got it out, but I think if it would have been left in it would have continued to be driven further and further into the tire as the tire wore down until it would have caused a leak and wrecked the tire, since it was on the outer portion that can't be repaired with a patch.