Below from my owners manual. Just like it says for my Ram, which works perfectly. But this mentions a "key fob" which allows you to shut engine off. Cherokee has no key fob.
8. Start the engine.
9. Shift the transmission into REVERSE.
10. Release the brake pedal for five seconds and ensure
that there is no vehicle movement.
11. Shift the transmission to NEUTRAL.
12. Apply the parking brake.
13. Shift the transmission into PARK, turn the engine
OFF, and remove the key fob.
14. Attach the vehicle to the tow vehicle using a suitable
tow bar.
15. Release the parking brake.