One problem related to brake sensor has been reported for the 1996 Jeep Cherokee. The most recently reported issues are listed below.
While appying the brakes, driving about 50 mph, the anti-lock sensor locked the rear wheels, causing vehicle to go into a big slide. Consumer had to take his foot off the brake and hit the gas pedal to pull out of the slide, and vehicle kept going. Consumer hit brakes real hard, and vehicle came to a stop. Consumer took the vehicle to a dealer to be repaired, and dealer stated tha the self adjuster was frozen.