When I had my RFT fiasco a couple of months ago, I thought the tire shop would surely damage those plastic jack points under the car, but surprisingly they didn't: the floor jack they used had a large, flat pad, so they centered it on the plastic jack point. They lifted the car with no problem and didn't damage the jack point one bit.
That said, having some kind of adapter to fit the jack points would be a safer bet.
Since I had access to a milling machine, I made an adapter from a couple of pieces of aluminum to fit my floor jack:
