Jacobi wrote:
How do I do this?
Remove all the bolts

Links, bar, brackets, just take all of it out. Loosing the rear sway will help nicely with rear articulation. On the street it will drive the handling balance of the jeep from understeer toward neutral or potentially a tenandcy to oversteer. You should be familiar with these terms and impact on handling before making these changes with any confidence.
FWIW the up-country pkg on the old cherokees deleted the rear sway but added stiffer dampers and springs which likely negated the handling difference.