Go to rockauto.com and look at their list of parts for 96 Cherokee.

You'll want :
Moog upper control arm bushings (2 sets of 2)
Moog lower control arm bushings (2 sets of 2)
Moog sway bar frame bushings (2)
Moog sway bar link repair kits (2)

Rubber bushings are more comfortable and recover shape and last longer.
Poly bushings are firmer and then compress and wear out quicker.

 

Rubber is easier to get back together also.

 

 

Picts? Pitman connection is a solid one.

 

I think bigVOLharp98 is talking about the tie rod socket that attaches
to the pitman arm. It is part of what is called the drag link that goes
from the pitman to the pssenger side knuckle. The Mopar p/n is 5200-5739
for the tie rod socket at the pitman arm. Its equivalent Moog part number
is ES3096L

If you want to know more about the steering part numbers (Mopar and Moog),
look at post #4 in this link. You have to scroll way down past the table of
spark plug part numbers.
https://www.jeepforum.com/forum/f11/...mbers-1523096/

 

My nemesis has always been finding a stock track bar that has the poly bushing already in it. You can buy the poly bushing and put it in it, it ain't easy tho. Propane torch to burn out the old one and sawzall the ring around it, them press in the new one. Otherwise, without exception, that bushing does and will fail in no time flat, and when you have a helper crank the wheel you will see that Dana 30 swinging from left to right and back again as the bushing offers terrible support.

 

I went with poly bushings on my sway bar. Everything else rubber.