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2003 Grand Cherokee
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Look for leaking rear axle seals. Easiest way to do that is while the Jeep is on flat ground, put it in drive (with foot on brake) and put the parking brake one. Then take your foot off the brake and see if the parking brake holds it in place. If it moves, then take one of the rear wheels of and inspect. The rear axles leak onto the parking brake shoes and cause them to not hold the vehicle in place.
 
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