Welcome to the garage.
If it has quadra drive or at least a vari loc in the rear differential (towing package), then its probably lack of limited slip additive. It will wear out over time and the fluid should be changed and the additive added.
JEEP Grand Cherokee 4.7 Lmtd 2004
HID 8000K in low and fog / Quad Squad member
KYB Gas-a-Just shocks / Pirelli Scorpion ATR 245/65/17 - Transgo reprogramming shiftkit.