Ahh, sub frames - Minis, 1100s and the like. Lots of fun. (Sorry, you probably don't know what I'm talking about - before your time!)
I'd really strive to get the best access you can to a Frontera via trolley jack, axle stands etc. Ramps are fine but I'd still want secondary emergency support to the height the ramps placed the car. I'd then pressure wash it with a Karcher.
Once dried then some old cushions or even bubblewrap for your comfort - a wire brush, circular wire brush on electric drill, wide bladed chisel or similar (a pair of goggles handy at first). Corroding brake pipes are a 4x4 problem and I'd guess do bring about the premature death of many Fronteras. If just a few white-ish spots then a gentle brushing with something like a suede brush can reveal the extent of corrosion. The SWB also has a spot where the pipes disappear beneath a non removeable plate - you can just see a small section through a round cut out. This can be a weak spot, but you can get your hand inside to apply grease etc. If you have to remove pipes then "Plus-gas" is a wonderful product if you can still obtain it (releasing fluid). But there is a LOT of pipework to dual systems and it's not for the feint hearted. I'd just replace what it MOT fails on - and Waxoyle the rest at the same time. Bodywork wise they are not too bad (I've seen much worse). The rear sills can rot from the inside on the SWB, as can the outriggers (outer body supports). All will be visible when wire brushed.
I know it would be great to just lift off the body like an old Landrover or Suzuki - but one hell of a job! But if this is your intention some photos here would be appreciated of your progress. I know what it's like to either scrap or sell an old car and then wish you'd made the effort to restore it. I once scrapped a Vauxhall Victor 2000 (the superb '68 to '71 shape) that was bodily and mechanically sound, and over 20 years later it still niggles me

I'm lucky with my SWB as we've had it since practically new and the underbody is in a unique condition, in fact I must do some photos for here sometime.
Tony.
1996 2.0 Sport - owned since October 1998.
2002 Citroen Berlingo Multispace 1.6 16 valve 110 bhp.