Same noise happened with my 96 tonight! Just got home late and parked it. Happened from a dead stop. I just pulled a light utility trailer about 60 miles, the jeep did it easy enough, but it had to work a little. I was on the highway doing 65+ mph so it was downshifting to hold speed up hills and what not. Fluid get too hot possibly? It felt weird taking off from a stop sign in my neighborhood so i stopped again, stood on it, and it make that screaching/grinding sound. Sounded like tranny area, and the jeep seemed to hesitate, i let out as soon as i heard it. Tranny fluid is dark, but not burnt, plenty full. Would it be worth a shot to change the fluid?