I'm also a new Grand Cherokee Limited owner, as well as a new member here (Hi everyone!). I've been researching tires for the past 2 weeks, as the Toyo's on my 4x4 Limited are just about gone. You mentioned that you don't want to do any off roading (probably a good idea with 4x2). The highest rated tire that I have found researching for general use seems to be the General Grabber HTS. Even Consumer Reports picked it #1 for general use. TireRack picked it #8 in their top 23 tires for SUV vehicles. It seems to give good balanced traction in most situations, it gives a quiet comfortable ride, and has a 6 year 45K mile warranty on them. You're going to pay more money for all-season highway style tires, yet typically won't get much more life out of them over an all terrain style tire. An all terrain tire will give your Cherokee a more agressive look than a all-season highway tire, and will out perform most all season tires in snow and ice.
Now understand, this is only from the research I've done, I have no personal experience with that tire. I'm only offering my 2 cents worth. I'm sure others will give their personal opinions, and they will have much more experience than I do. It really depends on what you personally want to get from the tire. I'm personally leaning toward the Yokohama Geolandar A/T-S, as it is more geared toward all terrain style driving, has an agressive look and feel, and it's fairly low in pricing.
Hope this helps a little.