I had the jeep warming up in the drive way and after about 10 min. it just cut off and won't start it sound like it wants to but it not connecting no spark

run the fault codes first
check the cat converter for failure blocking the exhaust

Check for vacuum leak .and check pcv

No.
The crank sensor tells the computer when number one cylinder is at top dead center to find the timing for the spark plugs.
If the engine will not crank with the starter, the starter, key switch, battery or cables could be faulty.
Some of these items could also cause it not to start.
If the engine is stuck you won't be able to turn it at all.

Have you scanned the system for fualt codes? An O2 sensor will never cause the engine to stall out like this, NEVER.

Fuel system needs work, replace fuel filter and fuel pump go Check out Autozone they got the Stuff.

Are there any service lights coming on from the dash. Sounds like a throttle position sensor but the service engine light should be on if the sensor is defective.

I just had this problem on my 1996 Jeep Grand Cherokee. Once the engine got warm, after about 15 to 20 minutes, the car would just die at random times, sometimes when doing 40 mph and sometimes at idle.

I ended up changing the Crankshaft Position Sensor and it cleared the issue.

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if it shuts off after running for a while and will not restart for about 10 min,a bad crank sensor will cause this. abad crank sensor will make car shut off and not restart for about 10 min. put a scanner on to make sure. a check engine light does not allways come on. if you do not have a scanner, any auto parts store will scan it for free.

Sounds like coil trouble.

Replace, or have the fuel filter replaced. Replace the air filter as well. If it still does it, have the fusable link(s) checked, as if the connection(s) is not secure, it will cause the vehicle to start sometimes, or die while driving. Also have a diagnostics done at your local mechanic, or a local automotive store (usually a free service; stores may vary)