Getting advise from the lift manufacturer will be biased. It is in their best interest to err on the safe side, so they will always suggest that you make things 10x as strong as it needs to be. Is this bad advise? Heck no. They don't want pics of their lift crashed to the floor spread throughout the internet because some numb nuts decided to install the lift in a floor that is too thin, lacks reinforcement, or is too close to a control line, etc. And any lift owner shouldn't want to see their lift crashed to the floor either.
I have the same condition in my shop that you do. Control joints are in the wrong place. I initially wanted to install a Mohawk lift. Their rep came out to my shop, measured the locations of the control joints and said "No way." A few months later I bought a used 9000 lb Rotary SPO9 asymmetric from the local GM dealer that folded. The footprint of the Rotary was about 8" narrower than the Mohawk, so I took a chance and installed it without making any changes to the floor. The closest fastener is about 6 inches from the control joint. That was 3 years ago, and it's working just fine so far. Was this a good decision? I don't know. If it never fails, it was a good decision. If it falls over with my car on it someday, it was a bad decision.
Would I recommend that you do the same thing? That is your choice to make, I'm just providing input from my experience to help you decide. However, I would suggest comparing other lifts to your BendPak that may have a different footprint, and may give you a better fit to your control joints.
Dale