Your issue is one of the typical problems with this vehicle. It is caused by worn bores and worn out plungers in the front pump assembly in the transmission.
This typically happens when you first start the engine and drive a few hundred feet in drive and let off the go pedal. The torque converter lockup clutches will engage and stall the engine just like it were a straight shift when you forget to depress the clutch pedal when coming to a full stop.
A temporary work around is to bump the transmission into neutral before you come to a complete stop or anytime you hear the clutches trying to engage.
A permanent fix is to remove the transmission and replace the front pump assembly. Most upgrade their torque converter at the same time and install a TransGo Kit to increase the line pressure to help with torque converter lockup clutch holding power. The TransGo Kit also improves shifts to make them a little more crisp with is better on the life of the bands in the transmission.
This is a writeup I put together a few years ago to explain the issue in detail.
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Supporting Vendor and Moderator of LOST05 Jeep Liberty CRD Limited
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