Take about 10 psi out of your tires on your cherokee at all times,they arn't that heavy.I run 45 psi in the front tires of my 94 dodge ram diesel.The front end of it weighs as much as the entire cherokee.With less psi in the tires you wont wear just the centers.The ideal psi is where the tread contact is flat on the ground for the street.25 psi offroad you arn't even aired down.I went snow wheeling yesterday with my stock 93 dakota and I aired down to 15/13 psi in the deep snow.Granted the 235/75/15 tires where too small to float on the snow anyway.The bigger the tires the less PSI you need anyway because of the volume of air in the tires.If your vehicle is really light with big tires it hardly even needs air to keep the tread flat.I had an 81 subaru hatchback on 31 x10.5x15 tires and it ran 15/12 psi on the highway.Offroad the tires were more or less flat.
The swaybar on something with IFS has a big difference on ride quality.The swaybar essentially adds roughly 200 lbs of spring rate to each side because it is very rare that both tires will move straight up and down.Usually only one tire encounters a pothole or a bump..So the suspension has to twist the sway bar to move one side or the other.
My car is a 73 Plymouth Scamp with a 318 and sadly, an autotragic.