Hi Jim
I've owned a few Rotary hoists over the years. I had what they called truck adapters. To use them you had to stand up the pad and the truck adapter would slide over the pad. It was about 6" taller and you could probably turn it sideways to clear your exhaust and still make good contact with the frame rail. I have also moved the vehicle forward or back some to get a better position to contact the lifting points. I would always put vehicle up so the tires where about 6" off the ground and go to the bumper and give it a few good shakes up and down to make sure its going to sit ok, if its going to move better at 6" than 6'.
be safe, Don
