wife left dome light on all night in jeep cherokee.but it still cranked .do i need to charge battery are just drive it.

If it started up just fine, normal driving will keep it full. Unless all your trips are very short.

I would charge it myself to take the load off of the alternator and make sure it still takes a full charge. Batteries don’t like to be discharged so you may have shortened the life of it.

If you don’t have a charger I’d take it out for a drive on the freeway, 30-60 minutes daytime (no headlights).