Whether you drive a massive full-sized, four-wheel-drive or even a lowrider Monte Carlo, it's hard to not appreciate the S-10. The S-10 was ahead of its time when it debuted in the early 1980s; and when it went out of production in the 2000s, it was one of the last holdouts for compact, rear-drive truck performance.
The S-10, unlike a lot of supposed trucks that have come since, was always a full-framed vehicle. For that reason, the usual rule for jacking a rear-drive, full-frame vehicle applies. If you're lifting one of the corners of the truck, as you would when changing a tire, place the jack under the 90-degree bend on the frame just behind the front wheel or just ahead of the rear wheel. To lift the whole front of the truck, place the jack under the center of the front crossmember, just beneath the engine. If you're lifting the whole rear, you'll probably find it easiest with a bumper jack, if your truck has the appropriate bumper slots for it. The usual technique of placing the jack under the center differential is fine if you can get the jack under it, but this can be very difficult on stock-height, long-bed trucks.