I would not change the fluid, if fluid still has a good color and not burnt smell - changing
fluid with that many miles will some times cause valve body valves to stick and cause transmission to fail.

 

I doubt that the transmission is is causing the vibration. Remember to always check this transmission's fluid level in neutral, not park.

You will hear a lot of noises and feel many vibrations while owning your Cherokee. Make sure that the maintenance is up to date, the fluids are full, and there are no instrument indications of a malfunction. If a noise or vibration is always there or can be easily reproduced, seek knowledgeable advice. The cause may need attention, or the noise or vibration could be benign.

By the way, did you notice any "chunks" of material in the fluid that you drained?

 

Most the tranny dipsticks I have seen always say to check the level while in park, one being its safe! Theres no diff in the flow of fluid or change in the valve body when in park or neutral.

 

unfortunately, the amount of fluid I let out went into my regular oil changing pan so I didn't think to look at it. Maybe I can let alittle more out into another pan and inspect it? 96tudor said:

"I would recommend that the first time that you drain the fluid into a clean container. If the drained fluid only contains small flakes that look like fine metal flake paint, continue the process. If it contains larger irregular shape debris, don't bother going any further. Just refill and drive it until driveability issues ensue."

I'll move forward on with that and see what I find.

Also, the fluid is brown like oil but doesn't smell burnt.