I have never owned a jeep product before so am not familiar with how they act. I now have a 1993 Cherokee Sport with a 4.0 6 Cyl and a 5 spd.
I don't have manual locking hubs so I can't disengage the front hubs. My question is should the vehical lurch and jump when you back up or go forward with the wheels turned all the way right or left?

 

In 4wd on hard surface yes,all your wheels are turning at the same rate but your turning circle will be shorter for one side, more than the other.
Put in 2wd and replay exercise this "hopping" will not happen.

 

Thanks for answering my question. The lurching is happening when it is in 2wd. according to the shift lever. I will have a mechnic check the linkage to make sure it is adjusted correctly and not coming out of 4 high.

 

Yes I think in your case, that maybe wise.