2001 XJ 4WD

I feel a nudge when I come to a complete stop or when I start from a complete stop. It almost feels like a something is slipping. The automatic transmission shifts normally through the gears, and I don't hear any strange noises. I've wondered if it's a U joint or my tranny. (Stone stock 2001 Cherokee 4 WD with auto transmission)

It may be that your slip yoke on your rear driveshaft / tcase needs re lubing. This is pretty common.