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When buying starter motors it is essential that the starter pinion teeth are of the same pitch as the flywheel ring gear. Not all starters from the same make fit different engines because of this problem. However I would be checking that I had put the starter in the housing properly as any misalignment will cause your problem
It sounds like you have a defective alternator. The diode in the alternator my be bad and therefore not charging the battery. Have your mechanic test the alternator to confirm that that is the problem. If not the alternator, than your battery may be bad and not able to hold a charge. How old is your battery? More than 4 years old?
It sounds like a bad starter solenoid/starter, because a starter sits so close to a engine and exhaust that over the years the heat starts breaking down the components and when you drive your Jeep the starter solenoid gets "heat soaked" so when you've been driving your Jeep around for awhile and then turn it off the solenoid is "heat soaked", it needs to cool off before it will engage the starter again. Sometimes it can take up to a few hours to work again. Some people hit the starter w(the engine off) with a hammer to try to free it up.
The solution is to replace the starter with a new one and your Jeep will start up every time. Most starters come with a new solenoid already attached so it's best to replace them both.
Check all of the fuses first, then try getting under the car and tapping the starter with a hammer several times, then try to start it again. If it starts, you'll want to replace the starter/solenoid (built together). You can also take the starter to a parts store to have the starter tested.
Remove starter wire from solenoid and firmly touch it to the other wire on solenoid. It will spark some, starter should crank if working; providing battery power is good and the battery connections are clean. Check the heavy ground wire from battery to where it's connected to the engine or body are clean. If not, starter is bad.