Need to replace front rotors and brake pads

most likly warped rotors, they need to machined or replaced, and new brake pads as well

The front brakes are good at 30000 mile intervals ,because they do most of the stopping power. 50 to 60000 miles is about normal on the rear brakes. The most common ailment with rear brakes is the emergency brake not releasing. The cables for the emergency brake run under the jeep ,along the frame and rust keeps them from releasing

Brake pads are worn. That noise is the sound of the backing plate for the brake pads hitting the rotors. You will need to replace the pads and probablt the rotors. When the brakes go metal to metal like that it typically destroys the rotor.

try removing the pads and the piston may have a cross or a slot
it will to tough to start with but screw that piston back into the calliper housing
that should bring the shoes back in far enough to get the rotor off

check the rotors,check if the brakes where installed correctly,check out the struts,or it might just need an alignment...
Good Luck!

Once you take the caliper bracket off, the rotor should just fall off. If the Jeep stops without any vibrations I would leave the rotors alone., unless they are scored badly from brake pads worn out and metal to metal.

check the brake pads,and rotors on the front wheels,they may be worn down to the metal.

checked the wheel bearings and sometimes the clips will rub the rotors

Try jacking up the front of your jeep and see if you can turn the front wheels by hand. If you can the do the same thing to the back. If you can't turn the front tires then you might have a brake caliper that needs to be replaced.

well it sounds to me that the front rotors are warped and when they get hot thats when you feel the vibration or shaking. i would change the rotors on the front