My 1995 Jeep Grand Cherokee shuts down while driving soon as the jeep warm up it just shuts off , I have to wait a few minutes be for I can restart it

 

Not a lot of information to go on here, but a thermal related failure of the ignition coil or the crankshaft position sensor would be candidates. A general clean up of electrical connections as well. As the engine bay warms up, connections expand and sometimes lose contact which can knock out important engine sensors required for running.

Is the check engine light on?

 

If you do a Google search.. you'll find this is one of the most common problems with several years of Grand Cherokees.
Root causes are everything from bad o2 sensors to the ECU and fuse panel under the hood that vibrate while driving and cause issues like this.
The list for electrical gremlins on the GC's is quite long, sorry to say.
Just do a search like that. There are tons of how to fixes for this.