Jeep Grand Cherokee for tow vehicle?

Forget the trailer weight rating. The limiting factor for towing with any SUV is the payload capacity. The tongue weight of the trailer counts as payload, as does the weight of the WD hitch. The most capable JGC has a payload of about 1300 lbs. This is before any options are added to the base vehicle, so a heavily optioned Cherokee will have less payload available for cargo and passengers. The shorter wheelbase can lead to a less than optimal towing experience too. As others have said, there are may factors to consider, like where and how much you'll be towing.

A 5500 lb trailer is pushing the limits, IMHO.
Jeep Towing