my 1999 Grand Cherokee front brakes used to shudder like they would fall apart. I know this is a huge problem with Grand Cherokees. Brake assembly (TB) and rotors were replaced by the dealer (under warranty). Rotors were replaced three times too no avail. Dealer finally told me I would have to pay to have them fixed. I was disgusted with DC, and their crummy product. However, I had to keep driving this thing because I had no other car, and not enough money to buy a new car.
Enter Jeep Forums: They pointed me to Stillen. On a wing and a prair, I ordered new brakes and rotors (Cross drilled and slotted) from Stillen.
It's been 10,000 miles and no shudder...and the brakes grap much better than the old DC ones. Total cost approx $300 and about 3 hours labor (I did it myself)
I dont work for Stillen, but for what it's worth, their product fixed my problem and it will no doubt fix yours if you own a Grand Cherokee with Brake shudder