1996 Jeep grand Cherolee Heater

With the engine at full operating temp, locate the 2 heater hoses where they go into the firewall and feel them to see if they are both too hot to hold. If they are..........

The heat in that vehicle is controlled by a blend door that regulates heated air flow. it is operated by an electric motor/actuator. The problem can be that the actuator is stripped or inoperative or the door itself could be damaged. This is what needs to be determined by examining the actuator and see if it is responding to heat change commands or not.