You don't say what sort of Grand Cherokee you have, but it sounds like you need to get the auto transmission checked out. Get the vehicle scanned for fault codes as they suffer from various sensor failures that can cause poor shift quality.
I've developed a whining/grinding in the front end of my Grand Cherokee. The whine builds with acceleration but if you lift your foot and let the revs drop (but road speed stays the same) then the whine stops then starts again. I'm assuming this means it isn't the wheel bearings.My guess is that the U-joints on the driveshaft need changing. Is there any easy way to test/check the UJ's just to confirm? Could it be the CV at the axle end of the driveshaft?I don't know if it's related but I'm getting poor gear changing with the auto box at <50mph. It's especially bad at around 30mph, the revs go very high (3000-4500) before it changes gear. When it does change it's harsh with a real jerk.Cheers,Stuart