Found this info from a google search. Apparently, in 2012, there was a Jeep Grand Cherokee. But, it failed to finish.
A native of San Diego, the popular U.S.-based McMillin drove a Jeep Grand Cherokee with co-driver Gary Arnold. Unfortunately, the four-time winner of the Baja 1000 watched his Dakar dreams die when the McMillin Racing Dakar team's Jeep suffered a blown head gasket and warped head that forced him to the sidelines during Stage 2, which he could not finish.
This was especially disappointing, given that McMillin said before the start of his first Dakar: "I've been thinking about this race for a long time. Finishing is priority one. For sure, I'd like to win my class (Open Score), but I have no idea of what to expect...at the age of 55, I am coming to see what the Dakar is all about. I hope to do a good job so I can come back."
After the event, he said, "The best part was experiencing it first-hand, as there is no way you can begin to know it from TV or the stories of others. You really can't compare it to the Baja 1000 -- it's a different game. The worst part? The lack of sleep and the dust-bowl bivouacs. But I would absolutely go back under the right circumstances!"