Any commercial concrete/masonry supply place should be able to get you the foam board you are after.
I just poured a garage like you are describing. I did some "math" for a floor to support a 2 post lift. The calculations are very complex - so much so, most of the technical engineering guides I found don't even get in to it. Making some very conservative assumptions, I recall finding that 25 psi was adequate, but I went with 40 to get an additional factor of safety.
Without a lift, you can calculate the pressures like this:
(Weight of vehicle) / (number of tires) / (tire contact patch size) = surface pressure on slab
So, if you have a 4000 lb vehicle with 4 tires and 20 sq. in. contact patches, the slab will see 50 psi. (Actual contact patches should be larger and the actual loads less.)
That surface pressure radiates out approximately at 45* angles to the base, so if you divide the figure above by 2X the slab thickness, that should approximate the pressure on the foam. So, in the example above at a 4" slab, you'd have 4-7 psi at the foam. (depending on how conservative you make that calculation)
^ That is for a non-moving load. As the car rolls along the pavement, there are additional stresses created. (This is why you'll see the really high psi boards advertised for roads, etc.) The faster the movement, the higher the stress. Given that my personal garage has a very low speed limit, I ignored these effects.
A lift will put similar surface loads on the floor as a car just sitting there, but if you have a two post lift with an off-center load, that might stress out the base a little more. (The assumptions I made around these effects got me close to 25 psi with a full load on the lift.)
BTW - One thing I learned using this foam board was that it was hard to get the proper concrete thickness. With the irregularity of the stone base, the foam bridged the high spots - so the marks that our concrete guys put on the walls prior to the floor ended up being too shallow. (We had to put stakes in the middle of the floor to properly measure the concrete thickness once the boards were down.) I expect the slab might settle a bit as I load the floor and the foam compresses and contours to the base.