Yes you can. BUT... if you have the D-44 rear... be advised you may not find one to fit. The Grand Cherokees use an aluminum D-44... and NONE of the parts are interchangeable from any other D-44.
SO unless you find one specific for the Grand Cherokee... you;re SOL.
BUT if you have the D-35 or the chrysler 8. 25 rear you will have no problems at all.