Sorry, I didn't read carefully. Actually, it might be Technical Service Bulleting (TSB) W47 - spline issue.
https://static.nhtsa.gov/odi/rcl/2020/RCRIT-20V343-3789.pdf
You're driving along (probably normally so just 2WD is engaged) and you accelerate and there's a grinding sound (splines on input shaft slipping). Car has had the TSB applied so the car engages the 4WD (rear wheels) to power the rear to keep the car moving. If any torque is applied to front, grinding sound happens with no catching.
Not saying it
is this issue but symptoms match the problem and year (2014 TH) of Cherokee. 😢
Please post video or audio...