The rear ones should be relatively easy. On my E46, I bought an aluminum jack from Costco for $100 and I can slide that in from behind, and jack either the differential or the diff subframe (depending on how lazy I am).
Jack it up high enough and you can slide jack stands on both rear jack points (left/right).
For the fronts... I'm afraid there's not going to be a good answer.
There was nothing sturdy enough for the E46 cars, I'd be surprised to find out they've added one for the E9x cars.
Some people have welded up square pads on a piece of transverse box-steel so they can lift the entire front - I believe the safe jacking points in that situation were 2 visible pieces of the front "frame", left and right of the transmission. (Again, on E46 cars).
Anyway, I'm curious too...