New Shocks?
 

Not being familiar with the grand cherokees, I am not sure what the ride should feel like. Our newest addition (in Sig) seems to have a lot of "rocking" to the left and right. I am guessing needs new shocks? I have jack the front up and checked ball joints, rod ends and bearings and all those seem fine.

worn sway bar bushings/links are possible, but if everything checks out then yeah, shocks..

Could be a broken swaybar link.