My jeep has been acting up a bit. When i first start it after it sits for a while it has no issue starting up. If I then drive it and turn it off, when I go to restart it will not turn over, it doesn't even click. I don't think its heat soak as sometimes the jeep does not even get to operating temp. Do I just need to replace the starter?

 

First, I'd check all of your connections and grounds. I had issues where mine wouldn't click and I knew my battery connections were good as I had just replaced the terminal clamps because I had to do some work on my winch. Turns out that the connection on the wire to my starter was a little loose and it got dirty. The starter has a habit of getting leaked on with oil and the crud will build up. You can always pull the starter and take it to a parts store and have it tested. It only takes a few minutes to remove it. There's two bolts and two wires. Just make sure to disconnect the battery first or you might throw some sparks.
You should always check the free and cheap stuff first before you just start throwing parts at a problem.

 

I'd look into cleaning the neutral safety switch.
My 95 xj would randomly not start, click, or do anything. I thought the same thing about replacing the starter (and did so) but that turned out to be a waste of money. I ended up cleaning the neutral safety switch and haven't had a problem since.

http://jeep-xj.info/HowtoNSSrebuild.htm

 

If it isn't clicking I agree with scott, check your wires and the starter relay to make sure everything has power. Otherwise from there I'd say the starter solenoid.

 

Thanks guys. I am gonna have a look