2014 Cherokee - connect tow bar at tow hooks ?

The tow hook mounts should certainly be adequate to provide an attachment point. If they aren't strong enough to tow the Jeep with a chain, then they shouldn't be there. I wouldn't be afraid to use them, as long as you use good grade 8 bolts, double nutted. And any brackets that need modifying or welding should be done by a licensed welder. Also, the tow bar should be kept level, same height at the hitch and the Jeep.