I'm not sure why anyone with a floor jack is jacking at the pinch welds. Have I been doing it wrong for the last 30 years?
No, you've likely been doing it "right". It took my until my Sienna to realize the Sienna had dedicated front and rear floor jack lifting points designed in, and that made me realize most if not all of my previous vehicles probably had that as well.
Link to Tsienna lifting and jacking points page. The 3rd gen has floor jack locations in the same front and rear locations as the 2nd gen listed in the link. Lifts the entire front of the vehicle, at which point you can slip jackstands under
both front pinch welds and lower the jack to securely rest the vehicle on the jackstands. On prior vehicles I would usually jack one corner on the pinch weld near the jackstand points, then put a jackstand under the jackstand point and lower onto it. The vehicle never seemed "happy" about this and neither was I, but I didn't realize there may have (probably were) points designed to put a floor jack to raise an entire axle at a time. Doh!
Here's a picture of my 2014 being jacked up by a floor jack at the factory specified front floor jack location. It's hard to see, but the front tires
are actually off the ground here. I used this method for the first time when changing my water pump this summer because I needed to remove the passenger front tire to gain access to bolts and the belt. I'm never going back to jacking a corner except for spare tire changes on the side of the road.
Note the FSM jacking page says you can use this method to jack all 4 tires off the ground, with a set of 4 jack stands. Just chock the set of wheels you are not lifting first, put the first pair of jackstands, then move the jack to the other end of the vehicle, lift that, and place the second pair of jackstands. Something like a tire rotation would then be a piece of cake with all 4 wheels off the ground at the same time, and much less jacking overall. Simply ensure you're on a level surface (which you should be for any jacking operation), and break all lug nuts loose before you jack the vehicle up.
If you really want to jack just a corner at a time, or you have a vehicle that unlike the Sienna actually does
not have front and rear floor jack lift points, I once found a clever but expensive floor jack. The jack had a slot cut out of the lift plate, and no front axle. The mating jackstands would slip inside the jack while the vehicle was lifted, allowing you to jack the vehicle up at the exact point you place the jackstand. I can't remember what brand they were, but a quick search found a
similar idea, though it seemed less useful as the stand is not adjustable height. This is
yet another similar idea. But again, since I know the Sienna has dedicated front and rear floor jack points, a simple jackstand and set of jacks allows easy and safe jacking and jackstand positioning without jacking on the pinch welds.