Hi and welcome
As mentionned above, it sounds like your battery is slowly declining, and has gotten to a level where Stop/Start refuses to work, which is 'normal' for this Cherokee. Battery testing good at this point is also normal, reason is Stop/Start is very sensitive to battery health and will give us very early warning of its decline.
Usually, it goes something like this : you'll start to notice ESS (Stop/Start) gradually taking longer and longer to work, with that Battery charging message. At some point, ESS stops working, again with the Battery charging message. This slow process (progress) can take anywhere from 6 months to a year, roughly. And then, you get into the more bizarre problems as your battery's health declines below a certain point.
As
@Flybynightcru suggested, try putting the battery on a charger overnight, at home, to see if you get ESS back. You should still have a few months on that battery, but no one can be 100% sure how much time. And unfortunately, a battery load test will often not show 'bad' until the battery's health is near critically low.
Battery life in these Cherokees is roughly 3-4 years, depending on your driving environment and habits. And as
@sanghill pointed out, you need an AGM battery, because of the ESS system.