I had an 01 Grand with the I6. I had to tow my TJ home on an autodolly, (not easy to get the staps around a 35" tire) and it was fine. Mt TJ is about 3,800lbs. It did fine. On the other had I have a 3,000lb camper trailer and the Grand was so bad for towing the trailer so I got rid of the Grand.
I had an 01 Grand with the I6. I had to tow my TJ home on an auto dolly, (not easy to get the straps around a 35" tire) and it did fine. My TJ is about 3,500lbs.
I would suppose thing would be similar for your XJ, I think you will be fine. Backing with a vehicle dolly is a different than backing a normal trailer. Try to do as little backingup as possibe.
01 TJ, 34 Super Swaper 34x10.5 bias, Winch, locked, belly up, some armor.