This has been brought up in my off road driving classes that I ran through my employer many times, as it's considered part of the standard/required equipment load on our service trucks, and the guys ask about them. They are often surprised to hear that I haven't carried a Hi-lift jack on any of my 4x4s for off road duty for well over a decade now, and have not missed it once. I use it occasionally for other job related tasks, but never for anything involving lifting the truck itself. I have found there are always better, and safer, ways to do what the hi-lift did. For tire changing, the bottle jack or even a scissor jack has always been a better choice. Remember, the axle only needs to be raised enough to get the tire a tiny bit off the ground...I carry both a bottle and scissor jack. Scissor is great for squeezing under a high centered truck and raising it a bit to get cribbing or a bottle jack under it.
If there's concern about the truck shifting when raised, then you haven't properly secured the truck before lifting it. Move it to flat ground before jacking, even if it means driving a bit on a flat tire. Realistically, moving it a bit at slow speed isn't going to hurt the tire, and if it does, that tire was trash already. Regardless, what's better - replacing a tire or having a truck come down on you? If for some reason it can't be moved, set the parking brake, chock the wheels and/or chain/strap it to a big tree/boulder/ground anchor/another truck/whatever to secure it before jacking.
If you're concerned about being under it, carry a length of pipe/tube that fits the handle socket, and is long enough to get you out from under the truck. A bottle jack under the truck is still magnitudes of order safer than a hi-lift, especially considering very few people maintain those things or store them properly. Good example of the results from a poorly maintained jack that was also being used improperly -
But even a well maintained jack can easily get away from you if divert attention for even a second.
If you're dealing with a need to get unstuck, say from a high center situation or needing to rock stack, then slowly raise the truck from the frame or axles, and crib it up as you go along. This way if it does shift and drop, it's only doing so by an inch or two not a few feet.