1995 jeep cherokee battery good mant start in park or neutral.

Many cars do have a switch on the gear shift to ensure it will not start if not in park, turn on the reverse lights when in reverse, turn on the camera when in reverse, park lights, etc. Here is an article that mentions it a little bit, http://www.fourwheeler.com/how-to/transmission-drivetrain/154-0805-1987-2001-jeep-cherokee-neutral-safety-switch/.

Does it change if you put it in neutral at a stop?

This could be so many things. Bad battery connection, starter starting to go, fuel pump starting to go, relay/fuse broken. I would start with your battery and connections.

Vehicle will not start (I assume you mean won't "crank" / "turn-over") until wiggle gear in park or neutral - Replace the Neutral Safety Switch. First check terminal connection (plug)) if okay replace Neutral Safety Switch. The Neutral Safety Switch will not cause the vehicle to shut off while driving.
To diagnose stalling - next time it stalls and doesn't start check for spark and fuel. With no check engine light or codes mentioned in your post also indicates it is a spark or fuel problem (ignition problem/not emission problem (the sensors)). Keep smiling.

Neutral Saftey Switch located on top of your transmission. Costly to replace but often can be taken off and cleaned.

Your switch is on the passenger side of the transmission opposite where the shift linkage goes in on the drivers side.It takes a bit of careful prying and wiggling and some solvent to get most to come off. after removing the hardware that holds it on. The switch goes for about $200 but can be taken apart and cleaned...unless the contacts are really burned it will generally work after that. make sure that you keep it flat when taking it apart because stuff inside can fall out easily. Put dielectric grease in there before closing it up.Can't help with schematic...the ones I have I wouldn't wish on anyone. (terrible)

Try to check the trans mission gears of your 1995 jeep grand cherokee.The shift fork and the clutch sleeve of the trans mission is locking to the other gears .And then also check the starter motor and its solenoid.if the starter motor solenoid is destroyed or worn out replace .

Sounds like a bad starter.

shift from 2wh to 4hi to neutral then 4lo all while in drive and moving slowly. The owners manual and repair books say you can actually damage the transfercase if the jeep is parked. You can go into 4hi at any driving speed, just not too fast!

Likely the shift detent mechanism is broken. It's inside the unit and can be reached by removing the trans pan. It should be just inside where the shift lever goes through the case.