Sounds like your U-joint is bad on the front half shaft. Grab the shaft and try to turn it back and forth, you should see movement if U-joint is bad. The bearing wear out inside the cups. A lot of times you can visually see it.
Driving, turning, and stopping. Thats about it.
The 2001 Jeep Cherokee's turning circle is 35.7 ft..
The 2014 Jeep Cherokee's turning circle is 37.6 ft..
The 2011 Jeep Grand-Cherokee's turning circle is 37.1 ft..
The 2005 Jeep Grand-Cherokee's turning circle is 36.7 ft..
The 2012 Jeep Grand-Cherokee's turning circle is 37.1 ft..
The 2004 Jeep Grand-Cherokee's turning circle is 37.4 ft..
The 2007 Jeep Grand-Cherokee's turning circle is 36.7 ft..
The 2009 Jeep Grand-Cherokee's turning circle is 36.7 ft..
The 2003 Jeep Grand-Cherokee's turning circle is 37.4 ft..
The 2001 Jeep Grand-Cherokee's turning circle is 37.4 ft..
The 2010 Jeep Grand-Cherokee's turning circle is 37.1 ft..