Cant remember what it's called. The link just next to the drivers side header. It's a round (cloth/rubber ???) disc. It looks a little chewed up. Covered with oil. Sorry, cant remember what it's called.
Look in the suspension and brake section for the info. I think it's 94 and up Cherokee that has the replacements. It doesn't use a rag joint, it uses small U-joints. Holds up better and has less play in it, and yes, it's a direct bolt on.