Anything that requires the wheels off the ground or more clearance than you can get at max suspension extension. I always do it for brake / steering work. Makes wheel change easy also.
I'd never lift from the diffs, but the landrover manual shows the jacking points at the center of the chassis side rails and I've always done it that way with no issue.
I have 4 big jack stands, then I place 4 backup stands, plus the wheels under the body. I still get nervous working under it but the extra height makes some stuff quite a bit easier, especially up around the bellhousing and gearbox/transfer case.
At least once a year I'd have all 4 wheels off the ground. Sure, I could probably do it one at a time, but it's so much faster to just lift it up, work and drop it down. No room for a hoist at my place.

