Rotary probably puts more engineering into lifts than anyone else due to sheer size and the percentage of the market they have. They call for 4 1/4" minimum of 3Ksi mud. But they also say if the slab doesn't have sufficient strength to allow torquing the anchor bolts to 150 ft lbs, then a 4x4 area should be cut out centered on each post and replaced with 6" thick 3Ksi.
If it were mine, on a new build I'd definitely thicken the slab at the posts to 6". It would only take 1/4 yard extra concrete to taper the grade down and get the 6" thick 4x4 areas, and no extra finishing.
If your site requires any fill, its impossible to overstress the importance of proper compaction when you plan to have any heavy point loads like a 2 post lift. For relatively small areas like a garage, its hard to beat a walk behind vibratory roller for getting really good compaction. We had to put in about a foot of fill when we built our shop. The guys said they had it to grade and had packed it with a loaded tandem dump. Although it felt hard on top, you could watch the dump drive across it and see the soil pump. Had them spend a while with a vibratory, and when we shot it again it was about an inch low on average. Brought it on up to grade and have no cracks in 9K sq ft of 6" slab after 25+ years, even with regularly having mobile cranes weighing up to 100K lbs in the shop and raised up on their outrigger jacks for repairs.