While it is possible to put your Jeep Cherokee into neutral without the key, it will require a bit of work.
First, you’ll want to set the parking brake and then slide under the transmission. Next, take off the shifter cable. This should allow you to manually shift your vehicle, including putting it into neutral.
If you’re uncomfortable with trying to put it in neutral yourself, you should be able to have a tow truck driver or mechanic get your vehicle in neutral for you.