You need to check all the battery connections are clean and tight as well as the negative battery cable going to chassis and the cable grounding the engine to chassis.
As stated also the connections at the starter and solenoid.
If engine turns over fine when hot but does not fire it could be the cam or crank sensors failing.
The resistance of these two sensors can go up when hot...disconnect the sensors and measure their resistance when cold. Now heat them up with a hairdryer...resistance should not change drastically.
Failing cam or crank sensors usually post codes so try get codes read or use the "key" trick of rapidly turning the ignition ON 3 times without starting the engine. After third ON action leave the ignition ON and the odometer readout will display the codes in sequence from oldest to newest.
A bad Actuator Pin Assembly which is the rectangular section that rotates the ignition switch is known to slowly start deforming until it breaks completely...lots of posts on this assembly.
Try start it in Neutral instead of Park as the Park interlock can be faulty.
You can place the Jeep in Park and Neutral, remove the Starter Relay under the hood and identify pins 30 and 87 inside the empty relay socket. With Ignition turned ON
briefly jumper these two female pins together. If Fuse #8 40 amps is OK it should turn over and fire.
This procedure overides the ignition switch, failing Actuator Pin Assembly, bad Starter Relay and bad Park or Neutral Interlocks.
Try pull codes out first and post them here.
