The last time I rotated my tires, I used two large floor jacks at the same time on the front. Hard to describe, but I placed them left and right on the front frame, right near some welded seams. I jacked the car up and placed jack stands on the outside jack points for the front.
Then I used a single jack on the rear differential, and placed jack stands on the rear outside jack points.
Regarding the front. There is a thin frame rail spanning the width of the front, but it is too thin to support the weight of the Explorer when using a single jack centered on that rail. Hence my decision to use two floor jacks placed more outboard on the front frame at stronger welded points. Not too many people have two full size floor jacks, so this is not likely a convenient solution for most people.