The OP is asking about a new stock Jeep Cherokee. Not some highly modified and lifted and worn out Wrangler.
This is a known problem with newer Cherokee's and derivatives of the Cherokee. Jeep is aware of the problem and has designed a fix. If the fix has been installed and you still have the problem then the fix is not working for some reason.
Take it back to Jeep and make them resolve the issue. Don't start making modifications, changing the steering geometry or adding shade tree fixes like bungee cords. Take it back to the the vehicle manufacturer and have them fix it.