The starter is bad. Solenoid is good, the starter itself is bad. You can remove it and take it to Schuck's/Chief's/Kragen/NAPA, they will test it for FREE. You can't beat free!!!
I also have a 98 Jeep Cherokee with the same problem. I know I probably need to replace the starter eventually but as of now I turn it to accessory only, pop it in neutral, then start it and it works every time when it wouldn't even try to turn over with it in park. Don't know why it works, but it does. Give it a try.
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This Jeep was not my vehicle. The owner had recently replaced the battery and the cable ends. The connections appeared to be securely fastened. But this was a bad assumption, as the positive cable end was not properly tightened to the cable. Consequently, the current flow to the starter was restricted, so there was not enough power to turn the starter. This was not discovered until after I installed the new starter, which would not turn over. The moral of the story is not to make any assumptions until you verify them to be true; and check the easiest fixes first. Fortunately, AutoTune accepted the return of the new starter and issued me a full refund.
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