2000 Jeep Grand Cherokee drivetrain & axles problems

I own a 2000 jeep grand cherokee I was traveling on the freeway a few days a go when my truck decreased in speed somewhat. I pulled off the freeway to stop at a gas station. Once stopped at the light a thick plum of smoke appeared in the aft portion of the SUV. I pulled into the gas station with screams of your truck is on fire get out. I quickly placed the truck in park jumped out and the truck continued to roll out of the gas station onto the street hitting some local construction workers nearby equipment.

2000 jeep grand cherokee 4x4 v6. The steering wheel and brake pedal would pulsate horribly and shake when applying the brakes. This problem was due to the front rotors which were not covered under warranty eventhough there are 2 technical bulletins from jeep covering this problem. Dealer replaced the front rotors, calipers, and pads as suggested by the bulletins. #0500302 - cost of the repair: $552.22.(2) dealer informed me after fixing my brakes that the the rear differential has a high-pitched axle.