On 4WD models:

WARNING: This page is about a different car, the 2005 Jeep Grand Cherokee. However, it is still accessible from the selected car via links, so may be relevant.

Fig 1: Axle Connectors

Courtesy of DAIMLERCHRYSLER CORP.

Disconnect the electrical connector(1) (if equipped) and the vent hose (2).

Fig 2: Front Differential Bolts
Courtesy of DAIMLERCHRYSLER CORP.
Remove the right half shaft.
Separate the propeller shaft as necessary, and position out of the way. (Refer to DIFFERENTIAL & DRIVELINE/PROPELLER SHAFT/PROPELLER SHAFT-FRONT - REMOVAL)
Drain the differential.
Support the differential with a suitable lifting device.
Remove the front differential front bolts.

Fig 3: Right Differential Bolt
Courtesy of DAIMLERCHRYSLER CORP.
Remove the differential right bolt.

Fig 4: Rear Differential Bolt
Courtesy of DAIMLERCHRYSLER CORP.
Remove the differential rear bolt.
Remove the differential assembly with the left half shaft still attached.

Fig 5: Engine Mount Bolt
Courtesy of DAIMLERCHRYSLER CORP.
Loosen the engine mount bolts.

Fig 6: Engine Support Tool
Courtesy of DAIMLERCHRYSLER CORP.
Raise the engine so that the weight is off of the mount bolts.

Fig 7: Cradle Bolts
Courtesy of DAIMLERCHRYSLER CORP.
Secure the steering wheel in the straight ahead position.
Remove the steering gear as necessary. (Refer to STEERING/GEAR - REMOVAL)
Support the cradle with suitable lifting device.
Using a grease pencil or equivalent, mark the location of the engine support cradle on the underbody.
Remove the four bolts at each corner and lower the cradle.
Remove the lower control arms.
Remove the sway bar.