My 1997 Jeep Cherokee Country check engine light is on and gives a code of P700 - Transmission Control System Malfunction. I have had it in my cousins transmission shop for 2 days. He has checked everything that he knows and the transmission is fine. He has called Chrysler and they told him that they have never seen this problem on a 97 Jeep Chero. Country before. Has anyone ever had this problem or know what might be causing it?

I would look at the NSS...

Moving to Cherokee section. (NSS is the Neutral Safety Switch, there are numerous posts about it)