19842001 Jeep Cherokee Steering Gear replacement procedure. 

Required Tools:
Wrench: 18mm (Flare nut), 16mm
Sockets: 8mm ¾", and 33mm
Breaker bar, Torque Wrench
Jack and Stands
Screwdriver and a Pry bar of sorts
Impact gun: You don’t necessarily need one, but it makes the job WAY easier. 
Drain pan 
PITMAN ARM PULLER Rent one from your local parts store
A Second Person      

PARTS AND PRODUCTS
Redhead Steering Gear Box: https://offroadpowerproducts.com/redh...
Beefy Steering Box spacer: https://www.ebay.com/itm/203549940516...
Power Steering High Pressure Hose (97+): https://www.rockauto.com/en/catalog/j...
Power Steering Return Line (97+): https://www.rockauto.com/en/catalog/j...
Power Steering Fluid: PSF+4

When I first got this XJ, it had the original steering gear in it. I first bought a remanufactured box from Rockauto, but the pitman arm shaft seal leaked terribly and it had just as much play in it as the original. I then replaced the replacement with a 1999 Dodge Durango Steering Gear, and although it didn't leak it had the same amount of play in it. Finally, after listening to everyone tell me it was the track bar for 2 years, the Jeep finally drives straight down the road, the steering returns to the center after turning, there's no dead zone in it, it's much lighter, and I now know I need to replace the power steering pump. 

00:00 Video Start
00:04 Introduction
00:46 Causes of Loose Steering
02:07 The Durango Box Swap
03:07 Tools Required
04:36 Operation Begins
10:01 Reassembly Procedure
15:55 Epilogue

Dana 30 Track Bar Bolt Upgrade:    • Jeep Cherokee XJ  Loose Steering and...  
Operation MJ:    • Jeep Comanche: Operation MJ  
Thanks to JAY, for being the Second Person in this video (He escaped):    / @jayman0057  

If you have any questions, don't hesitate to ask.