At the front I've been doing it similarly to how Tobz describes. Doing each side at a time, I use the trolley jack on those box sections on the floor and then let the carr down onto the axle stands on the circular protrusions. To get decent height, I again do as Tobz says; going side to side, increasing a notch or two each time. If there was one central location you could do it all in one go. Also, I have dented the box sections on the floor doing this and also removed some of the underbody sealer (even though I have a piece of wood between the trolley jack pad and the floor). I can't see there's any other way to do it.
As for the rear, I cant see how to avoid using the rear beam.
Maybe I need to buy a car lift!!