If you're going to do anything go the POR15/RustBullet route. These will seal and stop the rust, you should never just undercoat without treating the existing rust first, it will only hide the problem and allow the metal to continue to decay under the undercoat (the same goes for body filler). You can undercoat over top of POR15/RustBullet, etc. to provide extra protection but as I mentioned earlier even with this you have to keep an eye on it because it can trap water once it starts to become loose/breaks down.
Unless you have access to a heated garage I'm not sure how much you will be able to get done now since most of these products require a temp of 50F or above, but I would recommend taking care of any rust in the spring and definitely before next winter, unlike newer cars 90s Jeeps are not made with galvanized steel and minor rust can turn into a major problem pretty quick if left go.
If you need something on the cheap, Rustoleum brush on rusty metal primer and brush on oil based enamel is ok but POR15 and RustBullet are far superior products and will last much longer.