I have a 1997 Jeep Grand Cherokee Ltd., 8 cyl, Full time 4x4

There are 60,000 miles on it.

Last year I had to have both rear axle half shafts, outer and inner wheel
bearings replaced.

This year it will probably be the trans.

Sometimes at take off (cold engine and warm engine) there is a "hard shift"
when going from 1st to 2nd, I believe.

There has been some instances when this occurred and I was traveling at 50
mph, the trans just did a hard shift.

Any ideas?

I'll never purchase another Chrysler product.