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Although is could be a fuel filter, it could also be a fouled spark plug, or a bad spark plug wire. Once you've ruled these things out, the problem could be the TPS (throttle position sensor). This controls your idling speed under all conditions. A faulty TPS will usually idle fine when the engine is cold but once warm, will tend to sputter and in some cases, stall.
Based on the condition of the plugs it sounds like its running rich. I almost wonder if someone sold you the wrong pumps and you have too much pressure or something.
Could also very well be whacked injectors. I am thinking it may even be a timing issue...
The spark plug leads in these cars are notoriously bad. I would change them without hesitation just for maintenance if nothing else, but I bet it solves your problem.
My 2000 Grand Cherokee had the same problem, without all the sputtering, it would just die approaching a stop. We could only keep it running by slightly pushing down on the gas petal when coming to a stop. I replaced the Throttle Position Sensor, but that didn't change anything. A new mechanic I found replaced the Idle Air Control Valve, and we've had no problems in a week.
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