There's a big thread over at jeepcherokeeforum about this. So far no one knows the problem and no dealership or Chrysler has commented on the problem.
I think it's going to be a motor or transmission mount or something resting against the steering. We do know some of the heat shields are making some noise and a little close to other pieces.
2014 Jeep Cherokee Limited
Luxury Package, Navigation, Panoramic Moon Roof, V6, Active Drive II, OEM Offroad Suspension