I remember reading a thread here with a similar sympton...the fix ended up being two things... motors mounts were going bad... so when the motor shifted position when the Jeep was put in reverse, it caused the wiring harness just behind the valve cover at the firewall end of the motor to pinch some wiring and it killed the engine. The owner dug into the wiring harness, found the scuffed and pinched wires, fixed them, and no more problem. Then he replaced the motor mounts.
See if you can kill the engine by flexing the wiring harness while it is running and in Park.