I just had my 2000 grand cherokee serviced by a Jeep Dealer for the check engine light being on...One of the problems they found, and fixed, was Evap hoses running from both LDP and cansister were leaking..
2 other things that came up on the 23 point inspection was:
1. rear differential axle seals have a slight leak
2. transmission pan gasket was wet

They advised me of this and said at the next service have it checked again...Now what I am taking is that at the next service like an oil change which is in 3,000 miles to have it checked again...

My question is, I am driving to Florida in this Jeep next Friday...Is my truck ok to make the drive?

you shouuld be fine, axle seal leaks are very common and they leak very little.
The transmission pan gasket is a different story, how bad is it leaking, If it is just leaking enough to get the gasket wet then it's not that bad and you will be fine but if it leaving puddles under the jeep I would have it fixed soon. I would also check the transmission fluid level (with engine at normal operating temp and transmission in NEUTRAL) before you leave for florida.

the axle seal isn't expensive but the bearing is and it's a pain in the butt to replace