My Wrangler has Panhard Rods back and front. I think the Cherokee does to. So the noise could be from a loose bolt on the rear Panhard rod.
The Cherokee does not have a rear panhard bar. It sounds like one of the u-joints in the front axle needs replaced, from the factory these u-joints are non-serviceable. With the miles you have they are do to fail. Aftermarket joints from N.A.P.A. are serviceable and cost about $25.00. Labor on this should be around 1.5 hrs. per side.