As you noted, most mid-rise lifts have the scissors in the way. Here is one that solves that problem. I have a full rise that is similar to this. In my case, once the car is parked, I put blocks on the ramp at the locations where I want the car to be lifted. Then the wheels hang and can be serviced as well as under the car (the ramp is less than the wheelbase). This gives full access.
I don't know if this one is intended to work that way, but it looks like it.
What I don't like about this one is that it has two crossbars on the floor, which prevents you from rolling in a creeper or transmission jack or the like.
Auto Mid Rise Pad Scissor Lift - YouTube