With only two jacks, you could jack up one side, swap tires front to back and repeat for otherside. Seems solid but tires stay on the same side.
What about jacking up front, two stands in the front, and then just using the jack on the rear? No one is under the car with just a rotation, but is it recommended?
I’ve always done it with 4 Jack stands (easy and no worries). The way you are describing above - I don’t like the thought of changing the rear tires and let’s say all of a sudden the hydraulic Jack gives and the vehicle’s rear falls while you are changing the tire - there is a potential for injury, God forbid you have a limb under the tire while that happens. Having 4 Jack stands (as long as correctly placed) eliminates that possibility.
1 jack , and 1 jackstand is all you need.
There should be no need to place an part of your body underneath the vehicle.
