Looks like you will be getting a new tranny.
Remove the trans and take it to a transmission repair shop.
look down by the transmission under the car.
If your Cherokee isn't functioning right in reverse then you may have a bad transmission. You should contact a professional about having it rebuilt.
If an automatic transmission ,broken bands in the tranny.
If the trans is full of ATF and the linkage is connected, the trans is blown.
That would be the 4L60E transmission.
Inside the trans. pan , attached to the valvebody.
manual trans. has a switch on the drivers side of the trans,auto is in the steering column.gmjim
Its a so called maintanence free trans. I had to get my trans replaced at 68k.
transmission cooler lines runs from transmission to the radiator
the transmission has to be spit apart in order to change the trans filter.
The transmission is broken. Take it to a shop.