My 1996 jeep Cherokee xj will sputter out and die when I put it in drive but when I put it in reverse it will stay running and driving

My guess is the gearing , that reverse has is very low.
and with lower gearing a weaker engine can run
id bet you if you use your right foot, on the throttle as you
go to drive, it will move, or use L gear.
the sputter, is not related to the transmission
Sputter is gross misfiring of the engine, 4.0L?? what engine?
and the top cause of that. is not getting a tune up.
spark plugs. ever do those in 10 long years.'
or spark wires>?
filters, fluids and spark? a tune up.
the Jeep runs a map sensor, so does not sputter with air leaks.
the jeep IAC can stick. and not hold an idle ,in drive.
but you can with a fast right foot, if not , its gross misfire for sure.
your right foot is not gas its air
when you press the throttle you add air and the EFI matches air with fuel. in that order
so if it still sputters, is not the lack of air. see?> spark is next,.

for 100 years folks avoid tuneups, is that you? the classic cause?