jackkpts,
1. Use a BIG, funnel. It may look funny, but it helps a ton. By big I mean wide, not tall.
2. Your big funnel will allow you to center the jug and begin to pour a good rate so that you don't get the side drip. Depending on the jug, you can do this with one hand with the other holding the funnel for the first 3 qts or so.
3. Depending on how tall you are and the vehicle, a step of some sort. 04 Tahoe is not an easy reach, stretching with 5 qts in hand. We have a cinder block that has served this purpose for years. This really helps with # 2 above.
I have a super big round funnel and another funnel that allows you to drop the whole qt. bottle upside down into it .... these work well.