How often do you change the ATF in the transmission? The owner's manuals says 15,000 "severe" and 30,000 "normal".
My dealer has a machine to change out the fluid but unlike the Jiffy Lube type places they first put in a can of cleaner made my BG Products. Then they let the transmission warm up to operating temperature. Once the transmission is to temperature then the do the transfusion.
I have had several coworkers say it did a great job on their vehicle. I also did it on my 88 XJ and it made a difference but I was flushing out synthetic Mobil 1 ATF. The Mobil 1 allowed too much slip and I lost 3 mpg.
I think the easiest place to start is the transfusion, with 200K on the transmission there may be some stuff in the oil causing the problem and a 100% change out is the only ticket to get rid of it.
Also there was a TSB sent out by Jeep saying to make sure the ATF bottle has a Dextron Certification number on it. The Number will begin with a "D".