here's my opinion, coming from a renix guy.
84-86 was pre renix, these came with a chev 2.8 V6. they're not the best choice that's for sure.
87-90 renix. probably the best years in my opinion. the non abs versions with the 231 t-case had the vacuum disconnect front axle with the smaller u-joints. best of the renix models minus that front axle, but swap that out and you've got the best of the best. abs in these years are horrible.
but abs equipped with the 242 case had non vac disco with the big u-joints.
91-95 were good years with the H.O motor, non disco but early models had the smaller u-joints in the front axle, and were equipped with 8.25 with 27 spline axle shafts.
96 mostly same as 95 but chrysler added air bags amongst other things.
97-99 new body style with new interior. these came with the larger front axle u-joints and 29 spline rear axle shafts. with 99 being the best of these years due to the newer head and intake design and high pinion d30.
00-01 jeep lost the distributor and went with coil packs as well as ditching the high pinion d30 and went with the low pinion d30 from the TJ. these years also have the less desirable 0331 head.

so in a nutshell, my favourites are the 90 from the renix years, 94 from the mid years and 99 from the newer style.

 

I have found a 1997 Cherokee with 176k miles on it. The only issue is it has worn ball joint. It creeks when turning right. Shakes around 60mph. Is there any safety concerning the ball joint?

 

I love my 96 classic! What ever these bastard parts are your referring to, I haven't had to replace them.

I've had it for 4 years and ran it up to 173,000 miles with absolutely no problems.

Buy the nicest low milage cherokee you can find!

 

Take it to Les Schwab and have them check it out before you buy it, they won't charge you a dime.