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This has probably already been discussed before but I have been unable to find it; I just purchased a 2006 commander and it makes a loud thunk when shifting from reverse to neutral to drive and then again shifting in the opposite direction. Ideas? Causes? Cures? Thanks.
 

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I had some issues (and still do) one problem was transmission mounts were broken and needed to be replaced with 35,000 miles on my jeep.
 

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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.
 
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