Jeep Grand Cherokee 5.2 Stalling?

These partictular jeeps have stalling issues. I have corrected them a few times with a simple throttlebody cleaning. Also a big problem on these are the PCMs going bad. It happens more times then not and will do exactly what you are describing. Also is the aftermarket intake installed with all of the correct sensors in it? The intake air temp sensor is a very important engine sensor that is located on the intake. Leaving that off would not only make it stall but also set O2 codes like you are having. A catalytic converter can cause a motor to stall due to being clogged, but it would happen always... just not in reverse only or at low speeds. O2 sensors can cause it to stall but it would have very bad gas mileage and probably foul the spark plugs out if that were the case. With the Jeep running and warmed up, I would tap on the computer with the handle of a hammer and see if it stalls.