The model year 1996 Grand Cherokee did have a problematic part that holds the
shifter up. When you shifted from park to reverse it would make a pop or
clunk. Some drivers noticed their shifter went crooked over time. So instead
of pulling the shifter straight back, it went at an angle.

If you hear the noise while driving, it is probably a U-joint. Does the sound
get worse in 4 wheel drive?