Jeep great Cherokee 2000 , auto eight cyl. Why does car "h

Jeep great Cherokee 2000 , auto eight cyl. Why does car "hop" when I take my foot off of brake?
This feels like the car behind me tapped my rear. Could this be a drive shaft issue? It does not happen every time I brake.

sounds like a pinion gear rear end or driveline U joints,

you don't say how many miles on it, 150K get it in for U joint substitute and they can check pinion gear,

sounds like a bad you joint in the drive line, They should be checked and replaced. Other possibles are ring and pinion gear, but that could be my second choice after the you joints.

yes I think your prop shaft needs turning somewhat

try the engine mounting bush.

Many cars and trucks have the phenomena, while I'm not swearing that you have it..let's do the simple things 1st. Yes, it may be a you joint, but typically you have other issues with vibration at speed. Pull the drive shaft and put grease on the splines of the shaft on the inside of the yoke going into the transmission or move case,,whichever you have. While not a perminate fix it may stop it. What you get is a slight wrap of the rear axle, and slight with track locater linkage as you have on the rear axle. You then get the yoke to stick in the output shaft throughout braking and the last stop. When let go of the brakes, it unwraps somewhat and makes a bump feel as you descibe as the tension on the splines is releaseed.. Greasing the splines will work till the ATF washes the grease away. If this fixes it,,do not worry about it. won't hurt anything.
Good Luck

CHECK YOUR MOTOR MOUNTS. they're typically ON THE SIDE AND FRONT OF THE ENGINE.

The 2000 WJ's were famous for this problem. You could replace everything in the drivetrain & you'd still have the "clunk". My wife's 2000 WJ does the same thing. it is just the driveline releasing torque.