@mrubaum, actually the date of the information that 'Solo' posted is over a year old. Did you by chance purchase the vehicle used? The reason I ask is all Cherokee KL owners of record at FCA were sent a notication card last year that advised that these vehicles require a Mopar wiring kit accessory installed to keep the EPS activated while towing.
The cost of parts and labor for model years 2014 & 2015 should be covered by FCA. However there are many dealers that are not aware of this. If you happen to take your vehicle to one of those dealers, I would suggest you contact JeepCares at fcasocial@fcagroup.com. They in turn should contact the dealer an autorize the installation of the kit at no cost to you.