If you go check out rockauto.com, you will see numerous universal replacement O2 sensors as well as ones with specialized wire lengths. I would go with the Denso ones with the specialized wire length for each use. Or else plan to be tying up a lot of excess wire. You also need to know if you have the CA emission package or not. That is with the 2 pre-cats up close to the exhaust manifold.
2000 JEEP CHEROKEE 4.0L 242cid L6 FI (S) : Emission : Oxygen SensorPriceCoreTotal
DENSO Part # 2344077
Wire Length 12.99; # of Wires 4; Cylinder 4,5,6; O.E. Quality Replacement Sensor; Front$32.79$0.00$32.79
STANDARD MOTOR PRODUCTS Part # SG229T
{T-Series}
Upstream Sensor; Front$33.79$0.00$33.79STANDARD MOTOR PRODUCTS Part # SG209T
{T-Series}
Upstream Sensor; Rear$33.79$0.00$33.79STANDARD MOTOR PRODUCTS Part # SG300T
{T-Series}
Universal Upstream; Rear
Universal Downstream; Rear
Universal Downstream; Front
Universal Upstream; Front$37.79$0.00$37.79
STANDARD MOTOR PRODUCTS Part # SG268T
{T-Series}
Downstream Sensor; Rear$37.89$0.00$37.89
BOSCH Part # 13122
{OE Type - Exact Fit}
Upstream; w/ California emissions; Located in rear manifold / exhaust pipe; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles[$38.79$0.00$38.79
DENSO Part # 2344076
Wire Length 22.80; # of Wires 4; Cylinder 1,2,3; O.E. Quality Replacement Sensor; Front$39.79$0.00$39.79
DENSO Part # 2344078
Wire Length 13.82; # of Wires 4; Cylinder 4,5,6; O.E. Quality Replacement Sensor; Rear$41.79$0.00$41.79
STANDARD MOTOR PRODUCTS Part # SG300
Universal Upstream; Rear
Universal Downstream; Rear
Universal Downstream; Front
Universal Upstream; Front
$41.79$0.00$41.79
STANDARD MOTOR PRODUCTS Part # SG1815
Downstream Sensor; Rear
Upstream Sensor; Rear
Downstream Sensor; Front; Replacement Number$41.89$0.00$41.89
STANDARD MOTOR PRODUCTS Part # SG1816
Upstream Sensor; Front$42.79$0.00$42.79DENSO Part # 2344210
{Universal; OXYGEN SENSOR #5233088}
Wire Length 11.77; # of Wires 4; Cylinder 4,5,6; O.E. Quality Replacement Sensor; Front
Wire Length 11.77; # of Wires 4; Cylinder 1,2,3; O.E. Quality Replacement Sensor; Front
Wire Length 11.77; # of Wires 4; Cylinder 4,5,6; O.E. Quality Replacement Sensor; Rear
Wire Length 11.77; # of Wires 4; Cylinder 1,2,3; O.E. Quality Replacement Sensor; Rear$45.79$0.00$45.79
NTK Part # 23506
Pre-Catalyst; Exc. Calif.
Pre-Catalyst; Rear; Calif.$45.79$0.00$45.79
BOSCH Part # 15730
{OE SmartLink - Universal Fit}
Downstream; Except California emissions; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles
Downstream; w/ California emissions; Located in front manifold / exhaust pipe; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles
Downstream; w/ California emissions; Located in rear manifold / exhaust pipe; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles$48.79$0.00$48.79
BOSCH Part # 15729
{OE SmartLink - Universal Fit}
Upstream; w/ California emissions; Located in rear manifold / exhaust pipe; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles
Upstream; Except California emissions; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles
Upstream; w/ California emissions; Located in front manifold / exhaust pipe; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles$48.79$0.00$48.79
BOSCH Part # 13100
{OE Type - Exact Fit}
Upstream; Except California emissions; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles
Upstream; w/ California emissions; Located in front manifold / exhaust pipe; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles[$49.79$0.00$49.79
BOSCH Part # 13138
{OE Type - Exact Fit}
Downstream; Except California emissions; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles
Downstream; w/ California emissions; Located in rear manifold / exhaust pipe; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles$51.79$0.00$51.79
DELPHI Part # ES20044
Front; Cylinder 4$51.79$0.00$51.79
NTK Part # 23151
Pre-Catalyst; Front; Calif.$52.79$0.00$52.79
DELPHI Part # ES20047
Front; Cylinder 1$54.79$0.00$54.79
NTK Part # 23099
Post-Catalyst; Exc. Calif.
Post-Catalyst; Rear; Calif.$54.79$0.00$54.79
ACDELCO Part # 2131372
{#88929799}
SENSOR,HTD OXY(POSN 1) IN EXH MANIFOLD/CROSSOVER-CYL 4,5,6-4 WIRE-CALIF ESV
SENSOR,HTD OXY(POSN 1) IN EXH MANIFOLD/CROSSOVER-4 WIRE-EXC CALIF ESV[$57.79$0.00$57.79
DENSO Part # 2344008
Wire Length 10.71; # of Wires 4; Cylinder 1,2,3; O.E. Quality Replacement Sensor; Rear$57.79$0.00$57.79
BOSCH Part # 15465
{OE Type - Exact Fit}
Downstream; w/ California emissions; Located in front manifold / exhaust pipe; 4 Wire; Heated; Check / Replace Interval: 100,000 Miles$60.79$0.00$60.79
ACDELCO Part # 2131375
{#88929802}
SENSOR,HTD OXY(POSN 1) IN EXH MANIFOLD/CROSSOVER-CYL 1,2,3-CALIF ESV-4 WIRE$75.79$0.00$75.79
ACDELCO Part # 2131373
{replaces 213-3918 #19145299, 2133918, 88929800}
SENSOR,HTD OXY(POSN 3) POST CONVERTER-CYL 4,5,6-CALIF ESV-4 WIRE
SENSOR,HTD OXY(POSN 3) POST CONVERTER-4 WIRE-EXC CALIF ESV
SENSOR,HTD OXY(POSN 3) POST CONVERTER-CYL 1,2,3-CALIF ESV-4 WIRE$84.79$0.00$84.79
STANDARD MOTOR PRODUCTS Part # SG728
Downstream Sensor; Front; Exhaust stock* Non-stock item--shipping delayed up to 2 business days$39.79$0.00$39.79
AIRTEX Part # 5S3234
* Non-stock item--shipping delayed up to 2 business days$68.99$0.00$68.99
NTK Part # 23110
Post-Catalyst; Front; Calif.* Non-stock item--shipping delayed up to 3 business days$82.79$0.00$82.79