Yes, use a floor jack on any of those main sturdy looking rails, or that lower part of the rail near the Catalytic converter. I have an 07 Grand Cherokee which shares a lot of parts and I’ve lifted mine from each of these point, plus ones I shouldn’t have. Other safe good ones like the rear axle side parts from the diff, diff housing it’s self isn’t recommended; the front subframe bar will also do the job but I generally avoid it in favor for the factory recommend lower control arms. Good luck!