The Jeep Cherokee has u-joints connecting the driveshaft to the transmission at the front and the rear differential at the rear. Worn u-joints produce a clanking sound when shifting into a drive gear or engaging the clutch. To verify the u-joints are responsible for the clanking, hoist up the vehicle and check for play in the driveshaft by rotating it back and forth with your hands. A little play is normal and a lot means the joint is ready to fail and must be replaced.
Disconnect the negative battery cable and raise the vehicle up onto jackstands or blocks. Leave the transmission in neutral and do not engage the parking brake. Remove the rear u-joint first then the front u-joint. Use tape to keep the bearing caps from falling off.
Lower the rear end of the shaft first, then pull the front of the shaft from the transmission. Use the tape and a plastic bag to cover the transmission opening to prevent dirt or other contaminants from getting in. Remove the rear u-joint first then the front u-joint. Use tape to keep the bearing caps from falling off.
Use needle nose or snap ring pliers to remove the snap rings from the joints.
Find a socket that is a slightly smaller diameter than the bearing cap. This socket will be put in the vise to push the cap out of the yoke. Find a socket that is about the same or slightly larger than the cap diameter. This socket will act as a brace on the opposite side of the yoke.
Place the u-joint in the vise with the smaller socket braced on one side against the bearing cap, and the larger socket braced against the other side. Tighten the vise to force the cap into the middle of the yoke. Do this slowly and check that the smaller socket fits inside the yoke without getting jammed. Rotate the yoke and sockets to press the other side out. Remove all the bearing caps the same way.
Pack the new bearings with grease, following the instructions in the replacement u-joint kits as to the type of grease to use.
Install the new bearings with the reverse procedure used to remove them. Install the snap rings, making sure they are seated properly in their grooves.
Install the grease fitting over the snap rings and use a grease gun to fill with grease.
Lift the driveshaft in place and connect it at the transmission first. Remove the plastic bag covering the transmission opening. Use the chalk marks on the driveshaft to ensure it returns to its original position.
Use a torque wrench to tighten the bolts to the torque specified in the u-joint replacement kit. Lift the rear of the driveshaft in place and tighten the bolts with the torque wrench. Make sure the chalk marks are lined up properly.
