It may be your fuel pump relay is breaking down .when was the last time it was changed.
I would have a load test done on the battery as there is a dead cell evident from the number of jump starts you need. Have an auto electrician test the alternator for charge rate and out put. check drive belt condition and tension.
Check the ignition coil packs. It sounds like a spark problem.
SOURCE: 1993 Jeep Grand Cherokee won't stay running without foot in Gas
Have you pulled the code with a OBD II reader ? Please let me know which codes you find.
SOURCE: jeep 2002 grand cherokee dies unless i keep foot on the gas...
The idle relearn needs reset. Keep your foot on the gas at about 900 rpm. Make it idle for about 5-6 minutes. Slowly ease up on the gas until it will idle on it's own, it might take a while. After you get it to idle, it might be idling real low, but on its own, Let it sit and idle until for 20 minutes. After that it should be back to normal. You will have to do this every time you have the battery unhooked for a while.
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