An old military adage; you want to find the easiest way to do something, give the job to the laziest guy in the outfit.

That said, when I used to sevice the rear end on my Tourer, I never needed to jack it up more than 2-3" off the floor. Before lifting the wheel off the floor be sure to loosen the axle nut. Since it's a good time to do major cleaning in hard to reach areas, I always removed the saddlebags and their mount, then the back half of the rear fender. Once jacked up so the wheel is a couple inches off the floor, I put a small floor jack(one of those long flat type) under the swingarm to support it and remove the shocks at the bottom, often having to loosen the top bolt as well. I then get out my special hi-tech wheel/tire lifter...consisting of a 4" piece of 4x2 and about 30" piece of 4x1. Shove the 1x4 under the tire and the 2x4 under the 1x4, press down and put your knee on it whilst you remove the axle. You can now slide the wheel to the left, remove the 1x4 and roll said wheel out. No lifting needed. All the above usually took less than 30 minutes, the time often depending on neighborly kibitzing since the garage door was open most times. Neighbors needed conversation and dogs needed ear scratching and belly rubs and every poosh in the 'hood knew where to get both.

Once all service is completed, you basically reverse the process. Just roll the wheel in place and insert the lifting device(1x4 and 2x4), Lift the wheel with the device and insert the axle through to the left frame, sans the spacer at this point. You're now perfectly aligned to slide the wheel into the final drive. Once done, pull the axle back just enough to allow insertion of the spacer, then complete fastening everything down. This entire method I use involves no lifting of anything heavier than a saddlebag, or a cold drink. On a couple Standards I worked on I did a complete bearing replacement with appropriate new o-rings and thrust washer in under and hour since I didn't have to mess with saddlebags. I figured if the owner wanted it cleaner, it was on him. Again...no lifting and the rear wheel was never more the 2-3" off the floor. An I/S makes it a bit more involved due to the trunk and rear fender access, but still have done it much the same way.