When I bought our S4, I decided to upgrade my floor jack from an aluminum "racing" racing jack I had used on my VWs. It was pretty lightweight, but didn't seem very rugged. I don't recall it's lifting capacity, but I didn't want to chance using it for lifting the S4's weight without using jack stands, even to just change wheel/tires. I ended up buying a DK20Q AC hydraulic floor jack, from Pelican Parts. It's well-made, made in Denmark, and has a 4400lb capacity. The wheels have polyurethane O-rings that make it smooth and quiet to roll around. It's got a low profile minimum height of 3.15" and a lift height of 19.7". AC also has a high lift model with a 29" lift. The only regret I have about this jack is that I store it in my basement and when I need to use it, I have to enlist my wife's help to carry it up the stairs (it's 68lbs of frikken heavy!).
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In action (NOT my car!)
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