2010 JEEP GRAND CHEROKEE - stereo parts installation photos charts and install wires
that should give you all the info you need.
Scosche CR1291B is the metra equivalent of the same dash kit, nicer fit and finish in my experience.
C2R-CHY4 is the harness i would get
Metra 40-eu10 for the antenna adapter
Pac SWI-Jack will be the steering wheel control interface.
Should be all the info you need.
shop around for the best prices on the parts as well, typically i've found amazon to be the best place.