Google shows me a few forums posts about this : here at JCC, at JeepGarage and CherokeeForum (KL section). Members who posted never returned with follow-ups. Some had their PTU and RDM replaced with no success. Like you say, this system is sensitive to heat often caused by excessive wheelspin. 4-Low helps if you have it. Good winter tires should help here (don't know if OP has some) to minimize wheelspin.
Letting it cool down is the only way to get moving again, for sure..