For the rears, I set the car on jack stands, then used the jack to raise/lower the rear axle assembly until the suspension parts moved into an alignment that made accessing the caliper bolts easy. I needed two heights, one for each caliper bolt, then you can use standard tools to get them off easily.
If your rear rotors are seized on, found a genius shadetree trick. With the caliper removed, there is a section of the inside rotor that is exposed from behind. Use the factory scissor jack horizontally between the exposed inner edge of the rotor, and a solid part of the body/suspension. Expand the jack so there is enough force to hold it in place and then a bit more (like maybe another 1/2 turn or so).
Spray some penetrating lube around the base of each wheel stud. With the inner edge of the rotor under tension, pull out a decent sized hammer (Thor need not apply here)...like a framing hammer or a 2lb sledge and whack the crown of the rotor sideways (ie from stud to hub) around the edges of the raised portion. If it doesn't free after a couple of good thwacks, apply a bit more tension on the jack and retry. Had a 100% success rate in under a minute doing it this way.