Not with a "jeep", but I had better luck towing with my Jeep Liberty that I did with a Grande Cherokee. I think that's because the Liberty was more like a true Jeep suspension vs the Cherokee, which seemed to be designed to ride more like a car. I was only pulling pop-ups at the time, but the Liberty did fine, in spite of the relatively "square" wheelbase.
Be Safe, and Everyone Goes a Home,
2014 RAM Laramie 2500 w/6.7L Cummins Diesel and Automated Safety Hitch
2016 377RLBH Jayco North Point
300W of Suntech Solar w/Rogue MPPT Controller & Xantrex 2000W PSW Inverter