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You will not hurt the axle tube if the jack is centered properly under either u-bolt. That tube is minumum of a schedule 40 and is difficult to bend when the point of load is near the wheel. (The u-bolt adds to structural strength).
Jacking under the frame becomes very difficult and danderous because of the height required to relax the suspension. The reason the manufacture states not to do this is; someone will try and jack under the tube far away from the wheel and yes you can then bend or deflect that axle.
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