Will a trailer hitch from a 1994 Grand Cherokee fit a 1996 Cherokee XJ?
No, the Grand is different from the Cherokee.
There are trailer light kits available on-line that contain an adapter necessary to connect the wiring. The adapter is determined by the make, model and year of your vehicle. Extra lights are also available should you need them. Instructions are available. Also the dealership where you are renting or purchasing your trailer will be able to help you with the hookup.
In a word - No. The Jeep Cherokee has been produced from two different chassis. The first chassis was used from 1984-1994 model years. The second from 1995-2001 model years. Each of these two chassis require a different hitch because the mounting points on the chassis are different. You can find quality Valley hitches for either the 2000 Jeep Cherokee or the 1993 Jeep Cherokee at PerformanceParts4Less.com. See the link below.