These conditions MUST be ruled out entirely.
Check for any of the following conditions/mechanical problems.
AIR INDUCTION SYSTEM - must be free from leaks
ENGINE VACUUM - must be at least 13 inches in neutral
ENGINE VALVE TIMING - must be within specifications
ENGINE COMPRESSION - must be within specifications
ENGINE EXHAUST SYSTEM - must be free of any restrictions or leaks
ENGINE PCV SYSTEM - must flow freely
TORQUE CONVERTER STALL SPEED - must be within specifications
POWER BRAKE BOOSTER - no internal vacuum leaks
FUEL - must be free of contamination
FUEL INJECTOR - plugged or restricted injector; control wire not connected to correct injector.
Unfortunatly, a scan tool will be required to monitor o2 sensor voltages while the engine is running in closed loop. This code you are displaying is NOT an easy solution to trace down. I expect you had an exhaust leak and is why the cats were replaced? Anyway, if so, the PCM can reset the light after a few GOOD trip readings occur that will satisfy the PCM's no fault signal, otherwise the JEEP dealer is going to be your only solution and a pressure test should be performed.
Wranglers of that age (2005, 2006 or so) have a PCM programming error that can trigger this code (P2096) even when there is nothing wrong. The dealer has to reprogram the PCM. The TSB¹ is 18-028-06 ... and ... the dealer will charge because it isn't a recall, just another OEM FUBAR. NOW, it would not surprise me if your Grand Cherokee suffers from the same problem.
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¹ https://www.wranglerforum.com/f282/cant-find-what-this-code-is-115173.html
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