I usually have a little 2 ton hydraulic bottle jack in my truck for general use around the garage/farm. That's typically what I reach for to change a tire, not necessarily because it's "better" than the scissor jack that came with my truck but because it's just easier to get to. The scissor jack is a PITA to get in and out of its hidey-hole built into the cargo door.
I take a farm jack ("Hi-Lift jack") with me when I'm going off road, but it's primarily for recovery purposes if I get stuck. I wouldn't change a tire with it unless I absolutely had to. The thing scares me, and I don't really want to use it any more than necessary. They don't call that type of jack a "widow maker" for nothing.
Regardless what jack you choose, make sure it has enough travel to fully raise your tire off the ground. Jack height/travel can be an issue with vehicles that have larger-than-stock tires and/or aftermarket lifts/suspension kits. A piece of 2-by-something board is handy to have along to provide a firm/level base for your jack if you have to change a tire on soft or uneven ground.