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On my '98 XJ it was really close to needing an SYE with a RE 3.5" lift. We got away with a 1" transfer case drop. When I went to 5.5" there was no question that a SYE was necessary.
With your 94 you may or may not be able to go 6 without it but OTOH you might. It really just depends on the jeep. A SYE is not a bad investment at any height though!