just noticed you had an 02 grand. I had and 01 and it was a POS when it came to towing anything that stuck much above the vehicle, or had much weight to it. I got a camper trailer and after one year I had to dump the grand because of how poorly it towed it. Get the right hitch, keep it out of overdrive and unless you have a heavy boat (over about 3k) or sticks up much above the jeep you will be fine.
01 TJ, 34 Super Swaper 34x10.5 bias, Winch, locked, belly up, some armor, 4.0, 5spd