That video is giving bad advice. The welded unibody frame rail under the unibody vehicle is strong enough to use to jack up the vehicle. Care should be taken to not scratch the undercoat or paint off though, so use a piece of wood on the jack. In the back where the square frame gets smaller is where you have to be careful, but in the front it is fine to use it for jacking. The sub frame under the engine can also be used for jacking. You can usually jack it up in the rear by going under the rear wheel cross member right in the middle too.
Second, the place under the rocker panel with the notches is the correct place to jack the vehicle, but the Toyota jack is made to fit over the pinch weld. The floor jack is not, and it will bend the metal and knock off the paint. Also, he is using the floor jack on a gravel driveway. What happens is the wheels on the floor jack get stuck and can’t roll. Then the jack pulls the vehicle toward the jack while trying to drag the opposite wheel. This can result in the jacking point on the pinch weld getting bent all the way over.
I use a piece of 2x4 with a groove cut in it and some wood scrows perpendicular to the grain to make sure it doesn’t split. I put that under the jacking point. The groove fits on it like the toyota jack. You can also buy rubber things that do the same thing. Use the jack under the square frame with a piece of wood, then put the jack stand under the proper jacking point using the piece of wood or the rubber piece. Then let the jack down and push on the car hard to make sure it can’t slip off the jack stand.
You can both jack and use the jack stand on the pinch weld, but if you get too far from the jacking point you can bend the rocker panel up. Newer cars have stronger rocker panels so it’s not as much of an issue. You can see if it starts to bend too much