My 95 Laredo did this when I first got it. It only stalled when backing out of my driveway, cold and hot. I got bored one day and decided to change my fuel filter. When I pulled the old filter off and dumped the contents out, it looked like black muddy gas. When I started her up later that afternoon, she purred like a kitten. And when I reversed out of the driveway, there was absolutely no stalling. None.
A couple days later I cleaned the TB real well and gave the Jeep a Seafoam treatment. She ran even better. I had that Jeep for another year after that and never any other stalling problems.
Hope this helps.
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1998 Jeep Grand Cherokee 5.9 Limited, 278k miles
2000 Jeep Grand Cherokee 4.0 Laredo, 188k miles