The Mopar adapter is probably the best bet if you want something integrated with your existing setup (for example, track names/artist info shows up on the NAV screen, steering wheel controls work, etc.).
The main thing is make sure you buy the right part (there are several different variations out there):
Jeep Grand Cherokee WK - iPod
A good photo guide for installing the adapter is here (it's not too hard or complicated to install yourself):
Wow, I love the iPod interface!!! - LX Forums Modern Mopar Muscle
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300C AWD Cool Vanilla
Protection Group II (side/curtain air bags, air filtering, parksense, self sealing tires)
Luxury Group II (4 heated seats, dimming exterior mirrors with signals, courtesy lamps)
California Walnut Wood Trim
Sunroof, Kenwood DNX8120, Rear Seat DVD VES, iPod integration unit
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