As with any vehicle, verify with your owners manual, but regardless of what transfer case you have (there's a few choices with Gr.Cherokees), the transfer case has to be in Neutral. Jeeps are great for towing, I have several friends that have them (especially older ones) because they make for a cheap/reliable tow vehicle. As they get older, the t-case shifter linkage can get a little sticky. If it is, try to lubricate it as best as you can, and be certain you are actually in "N" before you head off.
36ft Damon Intruder Class A - 37ft National Sea Breeze LX Class A
-Past RVs: 19ft Sportsman, 24ft Jayco, 30ft Coachmen Mirada. We had some good times.
"Im a car guy...you've been warned" lol