If you ordered the spare tire, then you have one lift puck to access the jack points. Would be hard to rotate tires with only puck, but replacement should be fine.
If the shop doesn't have a Rivian jack puck, they will probably try to lift by the suspension instead, which isn't too risky, but they might try lifting by the battery or something else and risk damage.
You can order aftermarket lift pucks to keep in the car:
https://www.amazon.com/1EV-Aluminum-Rivian-R1T-R1S/dp/B0BHTNCJVL?th=1