The Grand Cherokee has independent suspension at all corners. It's also more aerodynamic, with a lower ride height.
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The Wrangler will be difficult to transition to IRS or even IFS. Part of the appeal is it's one of the few cars with twin live axles left on the civilian market. The others we have here are the Defender and the Jimny (not available in the US). All three are still sold with twin live axles because these are more rugged, and can withstand more abuse off-road.
It may be possible to forego that need, while cleaning up underbody aero with portal axles... but say
sayonara to any semblance of fuel economy when you go down that route.
