I'll be doing suspension and steering work and have some questions
 

I have a 1996 Cherokee Sport. I had an issue with the steering at highway speeds,and couldn't figure it out,so I took it to my trusted mechanic so he could figure it out. He told me the tie rods and track bar are worn,and the steering damper is leaking along with it all being out of alignment. Now I completely trust this guy,and I can even see it all for myself,but I just can't afford it for him to do it,so I'll be doing it myself. Now I've got a decent amount of experience with cars,but never anything with suspension,so I have a few questions.

Do I have to lift the wheels off the ground in order to get stuff loose? Getting under the car with it on the ground is no issue,but I'm not sure whether the suspension has to be decompressed to get stuff loose.

If I do have to lift it up does this mean I'll need 4 jack stands? 2 for the frame to support the car and 2 to keep the axle from falling down when I take something like the track bar off? Or could I get away with putting nothing under the axle?

In what order should I take things off and put stuff on?

I'm sure I'll have more as you guys give me answers,so bear with me. Thank you in advance.

front end
 

Look into the zj upgrade, well worth it instead original parts. you will need to lift the front end only. fairly easy. tape measure align then take for alignment

you won't need a lift to replace the parts you are looking at. I did the entire long arm kit on my TJ with nothing more than some jack stands and a couple of floor jacks.

Good info, do install the mid 90's Grand Cherokee V-8 tie rod setup 3 pcs. from AutoZone, many times stronger and a direct bolt-in. If you plan on doing a 2-3" lift anytime buy an adj. track bar and install it and not a stock one, the other will work.