TL;DR
Sample 3 is the way to go. It's fine to change clefs, and no "over" indication is needed. This is clearly illustrated in a passage from Beethoven's "Pathetique" sonata (Op. 13, mm. 49–56). The right hand repeatedly crosses over the left, indicated only by clef changes in the right-hand part.

(Image source: IMSLP)
1. What is the most common thing to do in a situation like this?
For a single note/chord, it can be written as in the third example. In the below passage from Debussy's "Le Petite Negre" (mm. 6–11) the hand-crossing (mm. 9–11) is given no explicit indication, but is clear to the pianist.

(Image source: IMSLP)
2. Is it too jarring changing the clef and back so quickly and in the middle of a measure?
Not at all. This is quite common. Chopin does this at the end of his etude in Gb major, Op. 10 No. 5. For the penultimate chord, the left hand jumps to the treble clef, then back to the bass clef.

(Image source: IMSLP)
3. Is it really necessary to write "L.H. over" or something like that? (If so, what is the best thing to write?). Or should the pianist "just know"?
It's not necessary to give an explicit indication (the above Debussy, for example). However, it is sometimes done when the extra clarity is needed. The below image is the final measure of Serge Bortkiewicz's Prelude III in E major (Op. 40, 1931, first edition)

(Image source: IMSLP)
The left hand starts the arpeggiation from the bass staff, the right hand takes over in the treble staff, but the left hand then crosses over the right to play the final note of the arpeggio. "M.S." (mano sinestro) is the Italian abbreviation for "Left Hand", and reinforces the use of stem direction as clarification of how the arpeggio should be played.
Other options for hand-crossing
Third staff
When the hand-crossing is extensive, it can be easier to read by adding a third staff. Liszt's etude "Un Sospiro" does this, along with stem direction to indicate which hand should play the given note. Measure 3 and 4 are shown here.

(Image source: IMSLP)
A related notation is discussed in What does the L-shaped symbol attached to C5 and G4 on the top staff mean?. In this case the notation indicates when the left or right hand should play a note that would otherwise be understood as played with the other.