it doesn't pull a car trailer and a nissan 240sx very well! lol had to tow my friend back from a town like 2 hours away. couldn't go past 55 without it feeling VERY unstable, and running pretty hot. if your camper is anywhere around 5000+lbs, the don't do it. If it's below that, should do fine.
I had a 01 grand and a 3k camper. I dumped the grand within the year, it sucked as a tow vehicle for my camper. Before that I pulled a cargo trailer loaded with about 2500 lbs about 1800 miles (it didn't stick above the jeep) and the grand did fine.
01 TJ, 34 Super Swaper 34x10.5 bias, Winch, locked, belly up, some armor.
A Cherokee (XJ) with the 4.0L IL6 and a full tow package including electric brake kit, trans cooler, HD cooling and the appropriate hitch is rated to tow 5000# IIRC. I would however NOT tow 5000# with mine, but I do tow a camping trailer that loaded is rated at around 2700#. It tows it like a champ, stops great and never breaks a sweat.
I say 3500# is a comfortable maximum. It can pull a lot more, but stopping becomes an issue as well as sway. I would NOT tow anything over 1500-2000# without electric brakes that work well. Oh and the tongue weight I believe is limited to 300#, but that is a lot for an XJ.
Proper loading is key, as is suspension setup. Towing 2000# with an XJ with the trailer improperly loaded on stock suspension will be a handful to say the least. If you are hauling a trailer for camping, and it falls within those guidelines, you should be GTG. As always, make sure your XJ is up to the task...
Trans Cooler (manual can tow less than the auto)
Diffs (requires heavier synthetic fluid)
Your owners manual has most of this in there for your reading pleasure.