Take a look at your front differential isolator mounts. Especially the one where the front drive shaft connects the to differential. I read on one of the Jeep Cherokee forums where someone was having the same problem as you described, and it ended up being the isolator causing it.
2006 Jeep Commander Limited 4.7L QD II.....[I]4in Super lift Supension lift, Defender Roof Rack, 285 70R17 ProComp Xtreme Mud Terrain II tires, JK wheels, Rear grab handles, polished throttle body, RCV performance CV Axles, 4X Guard belly guard, front guard, jeepinbyals upper control arms, borla cat back exhaust and LED off road bar 40" and dully D2's.
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