My used 03 threw the same code last night, just after filling it up with gas and getting groceries. It runs fine though. I've had TPS issues with Dodge Dakota as well, first time for real, 2nd time put on the replacement and it ran worse. Put old (2nd one) one back in, reset code and it never came back. Returned the replacement.
If the Jeep is like the Dakota, I wouldn't just replace the sensor without checking the wiring, resetting the code and trying again first.
That is what I am going to do anyway. Hope it works. Sensor is only $42 at Autozone and those are pretty easy to replace.
You can drive with it usually, but on Dakota it would cause RPM fluctuations and transmission shifts (1st bad one, 2nd just threw the code). Not sure if I would travel far. An option would be to purchase one, leave it in box (keep receipt), learn how to put it in (easy to do) and reset code. Then you have a backup plan.
Let me know what you find out, I didn't have time to look at mine last night, maybe tonight. I have a wireless interface to OBD2 and PC software so I'm going to plug in & reset and see if it is putting out a signal.