For the position, you can obtain this data (and other solar system data) to high accuracy using the HORIZONS software by NASA.
Use the following settings:
Ephemeris Type: VECTORS
Target Body: Jupiter [599]
Coordinate Origin: Sun (body center) [500@10]
This will generate the position and velocity of Jupiter relative to the Sun at the specified time(s). More settings can be adjusted using Table Settings
. The distance is then the magnitude of the position vector.
The orientation of the rotation axes of most major Solar System bodies (as a function of time) can be found here.
On page 7, the orientation of the rotation axis of Jupiter (in ICRF equatorial coordinates; right ascension $\alpha_0$ and declination $\delta_0$) is
$$\alpha_0 = 268.056595 − 0.006499T + 0.000117\sin J_a + 0.000938\sin J_b
+ 0.001432\sin J_c + 0.000030\sin J_d + 0.002150\sin J_e \\
δ_0 = 64.495303 + 0.002413T + 0.000050 \cos J_a + 0.000404\cos J_b
+ 0.000617\cos J_c − 0.000013\cos J_d + 0.000926\cos J_e$$
where
$$J_a = 99.360714 + 4850.4046T \\ J_b = 175.895369 + 1191.9605T \\ J_c = 300.323162 + 262.5475T \\ J_d = 114.012305 + 6070.2476T \\ J_e = 49.511251 + 64.3000T$$
and $T$ is the duration in Julian centuries since the standard epoch JD 2451545.0 (1 January 2000, 12:00 Temps Dynamique Barycentrique). All angles ($\alpha_0,\delta_0,J_a \text{ to } J_e$) are in degrees.