I'm not sure about the beam axle of a 2whl drive cherokee, but its not hard at all to do a home alignment on solid axle Jeep. All you really need is tapemeausre and an extra set of hands...put your front axle on jackstands,take your tires off, and measure the front and rear of your roter: shoot for 1/8" to 3/8" toe in. Once you've checked/adjusted the tierod, put your tires back on put it on the ground and center the steering wheel via the adjuster on the draglink. Its all easier than I'm probably making it sound.