When headlights turned on the dashboard lights dim and after 5 minutes a warning sound comes on.

SOURCE: 96 JEEP Gr Cherokee hesitates, surges, later stalls

You might want to start by replacing the crank sensor first.

SOURCE: Passenger door light remains on; all interior lights remain on

is yiur batery in your key ok?

SOURCE: Popping noise and restriction when turning into parking space or driveway after driving 20 to 30 miles but not from a cold start.

The viscous coupler in the transfer case is bad.

SOURCE: head lights and dashboard lights come on and off

I had this problem on my wife's Jeep Cherokee.  The only way that I could get it to stop was to take the entire dash apart to get at the back of the instrument panel.  Once you get there, there is a plug in on the back of it, I clean that off with rubbing alcohol and clean the plug up as well.  I couldn't figure anything else to do so I put it back together and haven't had it happen again for the last 6 months.  Just to let you know if your Grand is like her sport, you will get everything off of the dash and think you should be able to get to the instrument panel just to find that there is a clip holding the headlight switch on keeping the panel from coming all the way off.  I had to put my head in the floor and my feet in the air to get to it, but I got it off.  Good luck!

SOURCE: head lights and dashboard lights come on and off

This is usually a sign of the battery wires not connected completely or the ground has become frayed and needs to be replaced.