Re: 96 grand Cherokee limited front drive shaft
Yes, switch the pinion yoke on the axle from cv (rzeppa?) to u-joint style. Run a u-joint driveshaft. Write ups should exist on mallcrawlin.com (read EVERYTHING b4 posting a question, nomex underwear required) and nagca.com.
1994 ZJ, 3.5", 33" Trxus MT, HP D30 4.56, XJ D44 4.56 w/Detroit
2004 WJ Ltd. Stock QuadraDrive 235 70R17 Cooper AT3