Does one need two floor jacks to raise the car to do a back to front tire rotation? Can it be done safely with one floor jack? One floor jack and jack stand?
Tesla mobile service does front to back with a single jack by lifting high enough that both tires are off the ground (there is a picture of mobile service doing this in a tire rotation thread elsewhere). I've also done this successfully on my S60. I've been told by mobile service that they recommend single side rotations only, versus a modified cross. I tend to prefer a cross but I suppose it doesn't matter much for most people.
For doing a cross pattern I use a spare tire as a placeholder since I have only one floor jack but I realize that most people don't have that option. (Those of us who have a second set of wheels for snow tires can use one of those as a placeholder.) A second jack or jackstand would be even easier than using a placeholder.
In addition to the basic tools mentioned upthread — floor jack, breaker bar, deep socket, torque wrench, jack pad or hockey puck — I'll suggest a lug nut cap puller, if your car has lug nut caps, and a cross-type tire iron for spinning lug nuts off or on.
The most difficult part of rotating one's own tires is holding the heavy wheel up while trying to line up the lug bolts with the wheel holes. It takes a fair amount of strength and patience IME. I presume that absolutely everyone doing their own tire rotations knows how to replace lug nuts in a crosswise pattern to make sure they go on evenly. If not, please do a search for the correct technique.
If using lug nut caps, they can be used to indicate which nuts have been torqued by placing the cap back on as soon as the torque wrench is removed from that lug nut.
