Maynard, I totally agree that the lower control arm stubs on the subframe on either side of the diff are the way to go. (The blue circle in your picture.) The left is probably the better choice as there is more clearance. There is a bit of twist jacking off center, but it's less than an inch at the rear jack points when you place jackstands.
There just isn't enough clearance between the middle of the subframe at the yellow arrow and the back of the diff to safely lift there. Especially if you are using any sort of rubber jack pad to protect the finish.
I found this video which I think does an excellent job of how to jack the car up. It's an M3, but it has the same subframes. This is the same process that I've been using.