Thanks for the feedback. So I bought the service manual, and it actually has a section labeled "Lift Points And Precautions For Lift". It has the same 4 pinch weld spots as the owners manual, but also has a bullet labeled "Precautions for Floor Jack" which says "Do not install the floor jack except for the front subframe, rear crossmember, and lift points."
So evidentially the rear crossmember is an official Kia supported lift point. I'm curious though in that case why they put that exhaust hanger support right in the way

. Do they expect you to cover it with the jack pad? I'd be worried it would break it off.
The other point in this thread is the front crossmember though, not the front subframe? There is sadly no diagram for the bullet point <sigh>, so I'm not sure exactly what they mean by front subframe and whether or not it would have a good point on it for lifting the whole front. Any thoughts?
I measured the flat area in the middle of the rear crossmember from where it starts to angle up on the driver's side to where the exhaust hanger pops up on the passenger's. It's about 4.25". If you have a 5" jack saddle, I'm not sure how you're lifting from there without pushing on the hanger. Plus the rear diff is right there too if you have AWD, so you couldn't really center the saddle without hitting it.
I looked for a 4" saddle but couldn't find one to fit my jack, I ended up ordering one that's 4.8" at the saddle and 4.5" across the top of the pad. Hopefully it will slide in far enough between the left edge and the hanger cylinder to get a good bite. Or I might cut a slot out of it for the hanger bracket so I can center it but not apply force to the bracket.
My jack has some pretty good height, one of my other cars is a 4x4 Chevy Colorado with a lift on it, the lift points I use on it are probably already higher than the bottom of the Telluride rear cross member and I have no issues getting it off the ground, so hopefully I won't have a problem there.
The running boards are getting here soon, so should find out either this weekend or next when I install them

. Although it sounds like a running board bracket is going to get in the way of one of the pinch weld locations, so I'll have to see how that goes. There's supposedly enough room for the factory scissor jack, so I'm crossing my fingers there will be enough room for the jack stand. I shouldn't ever need to fit the floor jack there.
It shouldn't be this much trouble just to lift up a car 8-/.