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Its actually really simple. The 2 gas lift cylinders have 2 bolts per side. Use a star key to unscrew the bolts, they are hard to remove. Put the new cylinders back on in the reverse order. Same goes with the glass, but be more careful with the glass side as to much torque and you could crack it.

Links to where you can get them are below

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Q: How do you replace tailgate lift cylinders on a 2001 jeep Cherokee?
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