I've done lots of towing with differnt rigs. Mostly my XJ when it was on 31s behind my truck/camper.
Law for Alberta states that the tow vehicle must be twice the weight of the vehicle being towed. Here's why, vehicles on tow bars have no hitch weight and no brakes and 4 wheels that want to go straight. There is no weight transfer to the tow rig to keep its back end planted.
With the camper on my 3/4ton diesel truck everything was great, I had enough weight on the rear axle to keep the XJ in line. Without the camper everything was fine as long as the roads were good and I didn't try any sudden lane changes coupled with braking but I did rarely and carefully. Here's why:
I towed a friends CJ to my place to do some repairs. '92 Dodge 3/4ton diesel 4X4, empty box pulling a CJ on 35s. Hit some heavy rain along the way and when I tried to slow done and do a right turn off the highway it started to jack knife on me. Fortunately it was a wide turn with no one in the oncoming lane so I was able to countersteer, punch the throttle, snap it staright and take the corner wide.
A Grand Cherokee is not heavy enough to flat tow any 4x4. Yes the towed vehicle maybe within the ZJ rated towing specs but those specs assume a 10-15% weight transfer onto the back of the ZJ to keep its back end planted and also that any trailer it tows over 3500# would have its own brakes. ZJ brakes SUCK!
Get a trailer or tow dolly with brakes.