If the vehicle is on the floor using a bottle/trolley jack won't cause a problem, but lifting the vehicle on a 2 post lift and allowing the axles to hang/swing could damage height sensors, shockers, air bags and possibly propshafts if a rubber coupling is part of the shaft.
Remember that when jacking up the vehicle, the handbrake is on the propshaft so lifting a rear wheel could cause the vehicle to roll (chock the wheels).