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2002 Jeep Grand Cherokee Question: why does my jeep want to die from going park to reverse?

 

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02jeep, 4.0L 6 Cylinder, North Little Rock, AR, August 14, 2014, 22:31
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when I put from park to reverse, my jeep idles below 5rpms so I hit the gas a little so it wont die. Also when I turn my wheel just a little to the left it makes a popping sound coming from under the car. I can feel it in the gas or break pedal and in my steering wheel. we jacked up the jeep and wiggled the tire, it is wiggling from left to right but no movement up or down which that's how its suppose to be right? I have fixed a lot of stuff on here and it just seems to be one thing to another. just put new engine in it with 82,000 miles. thank you for any help.

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