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This is a common problem with that car. It is caused when the ground connection on the brake/taillight socket stops making full contact.

The official way to fix this problem is to replace the taillight assembly, but the way I fixed mine was to slightly bend up the ground connector inside the taillight.

The ground is the tab that's by itself (there are 2 others that are together).

VERY gently with a tool, pry the metal so it's bent a little upwards. This will allow it to make contact with the socket again. You have to be very delicate because it's fragile. It doesn't take very much effort to bend.

I tried this and it worked great! Thanks for the info.

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Q: Your 2000' Jeep Grand Cherokee brake lights don't work when the headtail lights are on They are fine when headtail lights are off Also when you step on the brakes it shuts off the tail lights?
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