The brakes on ours weren't that bad. I just had to replace pads and rotors at the front. One caliper hung and wore the inner pad down to the backing plate on the left side.
From the factory, these Jeeps got Akebono ceramic pads. If you replace them with those pads or similar, the brakes are as good or better than any truck of similar weight. Have you driven a Suburban or Yukon XL? Or an Expedition or Excursion?
I just replaced our pads (which were crappy aftermarket pads installed by the second owner, and we're the third owner) with Bendix CT3 pads. I also rebuilt the left front caliper myself (new seals, new pistons, new pins and boots, fresh grease in the pin bores). I'm happy with the brakes now, and the Bendix CT3's do seem to be an improvement over what we had.
There are a lot of aftermarket pads which don't perform as well as the stock pads. A high quality ceramic pad (Akebono, Bendix CT3 and Wagner ThermoQuiet all get good reviews) helps braking performance. I even considered Hawk LTS pads, which are probably a bit "grippier" and might stop a bit better, but with more dust and potentially more noise issues. I've used Hawk pads on other vehicles, including a set of LTS pads on a Suburban, and they do offer more braking for less pedal effort.
Flushing the fluid at least every two years is a good thing, too. That keeps the pedal firm.
I'm not a fan of drilled and/or slotted rotors. They wear pads very quickly, and they don't really offer much advantage if you're running good brake pads. If you're running cheap pads, you'd get better bang for your buck with good pads than with drilled and/or slotted rotors.