lok888,
According to Toyota, our SUVs with AWD system (i.e. RAV4, Highlander with compact spare) since they are primarily in front wheel drive mode during normal road condition, we have a choice to either rotate tires directly front-to-rear and rear-to-front without crossing OR Cross rotate from rear-to-front and front-straight-to-rear which is the method I have been using as that seemed to me better at tread wear more evenly (especially on the tread outer edges from cornering).
As for the jack(s), I try not to use the OEM jack for DIY maintenance work at home as that requires too many cranking, but it sure is light weight to drag around to each corner... LOL. My 3-year old floor jack from Craftsman "Professional" 3-ton duty (see attached picture) just failed last week in the middle of rotating my wife's RAV4 tires, good thing I used a stand otherwise the RAV4's passenger side rear will be sitting on the ground without a wheel - Phew! I now switched back to my Powerbuilt 2-in-1 jack & stand unit (also picture attached) which I used to use with my GMC Yukon (the reason I did not use the Powerbuilt 2-in-1 was due to its height clearance requirement @ 11", to solve that issue I drove the RAV4 on to 4 pieces of 2x8" at each wheel). Be Safe!
I most definitely agree with one of the posts, if you are going to DIY, use the appropriate torque wrench (lug nut torque for our HL is 76-ft/lbs).