Each year the summer cars get lifted and placed on tall stands for winter storage. Tires are 18" off the floor to get things a little higher than the average mouse is willing to jump. It's a carefully choreographed ballet especially since the unibody cars offer fewer places to safely lift or support with jacks or stands. Each effort is a reminder of how easy it is to make a mistake and end up with a problem.
I've shared here before an experience with picking up the pieces after a pickup fell off a jack and pinned the owner underneath. It was during a business visit in another state, and a person I didn't know. His wife's screaming caught our attention nearby. Not good.
With that said, working on a car on any jack is a fool's mission. The factory jack is barely adequate for changing a tire even under ideal conditions. If you are on uneven ground, soft soil, a slope etc., move the car to a better place. As I and others share, carrying a section of 2x6 lumber as a jack pad is a good start. Don't be shy about placing a rock or other something under the far tire, to limit the ability of the car to roll away. Gearbox is in park, parking brake set, no passengers in the car, and get all your tire change stuff out before you raise the car, especially the spare from underneath. All the serious pulling on the lug wrench happens with the wheels on the ground. Don't do anything that risks pulling or rocking the car off the jack, obviously.
Were I using a scissors jack to change a tire, I'd probably place it under the control arm just so it would be less extended. None of these small jacks, including scissor or bottle jacks, offers any resistance to the car rolling or swaying off the jack.
Maybe the best advice is to think things through and pay attention to what you are doing. And remember that most car insurance policies include road service sufficient to get a spare wheel installed without getting your hands dirty. For work on the car at home, a minimum of a roller floor jack and a pair of safety stands is needed before other tools come out.
I do more than the average amount of casual work on cars, and got tired of the work and the risks involved with raising cars for anything. I bought a Max-Jax midrise lift for the home garage, and have never regretted the purchase. It's just so much safer than even the roller jack and stands, besides being easier. There are plenty of other options for home garage lifts, including scissors-style lifts that require no installation. All cost a lot less than even the first hour in the emergency room.