Code 21 on your Jeep Cherokee indicates that one or more of the following conditions exist.
Upstream oxygen sensor response slower than minimum required switching frequency.
Upstream oxygen sensor heating element circuit malfunction.
Downstream oxygen sensor heating element circuit malfunction.
Downstream oxygen sensor input voltage maintained above the normal operating range.
Oxygen sensor voltage too low, tested after cold start. (Upstream or Downstream)
Left oxygen sensor input voltage maintained above the normal operating temperature.