A floor jack as illustrated would only contact the differential at it lowest point, i.e., that being directly below the cover, in the center. That's the lifting point. That's how I've done it for years, but I too have questioned whether it was wise to jack there or simply "that's what people do"... so I turned to the service manual long ago for an answer.
FWIW, here's the three-page section from the service manual showing all the jacking points on the vehicle, with text and illustrations.
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