Does this happen only when you're on pavement & in 4Hi? The type of 4x4 system the Wrangler has is known as a "part-time" and will feel VERY jerky & turns will not feel normal if the pavement has fairly decent traction. It's really only meant for use offroad or if the roads are completely covered with snow or ice. This is because the Wrangler's 4x4 system locks the front & rear tires together so they can't rotate at the different speeds needed when you're turning left or right... since the front tires must turn faster than the rear tires during a left or right turn.
Full-time 4x4 systems like are available on Grand Cherokees are fine on paved roads & don't produce any of that type of jerkiness when in 4x4. This is because the front & rear tires aren't locked together so they are free to rotate at different rpms for turns on high traction road surfaces.