Engine starts fine. warm up for 5 - 10 min. as soon as I take off & then stop rpms drop & engine stalls. when starting again I have to keep my foot on the excellerator t keep it runing.soon times through warm up rpms will go up & then back to idle speed.
Most low idle speed problems on these engines are due to a faulty idle air control valve but since you state the idle will go up and return to idle then i would say it is working properly i think you have a throttle body coking problem ( dirt and grit accumulates around the butterfly valve in the throttlebody ) to fix this simply remove the fresh air hose from the throttlebody and open the throttle all the way up use a clen rag and wipe clean you may use a solvent such as B12 on the rag but dont use too much 
SOURCE: 94 jeep grand cherokee stalls after the first 5 min of operation
Sounds like the automatic choke is either binding or gone bad.
On a cold start, that's why the RPMs are bumped up for a few minutes...the choke is allowing the engine to warm up, before dropping the intake mix to normal "run" level.
However, should the choke remain closed once the engine is hot, the stalling will happen for lack of air.
The choke-control is mounted on top of the manifold, near the throttle cable-cam.
Look for a small (about 3" wide X 2" deep) cone-shaped metal can with a linkage to the throttle cam.
With the engine off, spray the linkage at both ends with Liquid Wrtench and work the linkage in and out of the can a few times to check for smooth operation.
You should feel slight back-pressure when you move the linkage toward the controller.
With the linkage pushed in, spray and wipe the exposed surface inside the controller body.
Allow the cleaner to dry for a few minutes (it's just oil, I know...but if you used a spray, the propellants could be flammable) and start the truck.
Allow it ti idle at least 5 minutes until the auto-choke pulls back on the throttle...then take a short ride around the block to see if that cured the stalling.
***Don't forget to VOTE for the guys who take an interest in helping!
SOURCE: rough idle stalls at low rpm's
check your transmission fluid,the motor will stall when fluid is low
SOURCE: wont stay runing
try pulling the plug out on the idle air control valve then start it if thats not it try the map then the idle control
SOURCE: 2004 jeep grand cherokee idling problem. Revs motor 200 to 500 rpms higher while driving.
I had the exact same problem on my 04 GC. I put some Techron Concentrate Plus Fuel System Cleaner in from Wal-Mart and it seemed to fix the problems right away. Let me know.
SOURCE: 2004 Jeep Grand Cherokee. Keeps stalling, engine
P0505 means the whole Idle Control system, not only the IAM. Check all related sensors (i.e. crankshaft sensor). Check with a voltmeter direct at the connector of the IAM if you get any signal. Remove the IAM from the TB, connect him, let someone switch your ignition key to ON. The IAM need to drive in/out for a short time to find the right position. Hold the IAM near a hard part, that they cant drive out completely! If IAM works fine, check the fuel pressure, check and clean your TB ( if not done yet). If that doesn't work, come back again please
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