Reverse problems in normal shift and ok in 4x4 shifting

[dornier34]

I have a 1996 jeep grand cherokee , 4.0 6 cylinder , having problem with a tranmission shifting in reverse is grinding when I try to shift normal drive , but when I put 4x4 the reverse is going ok and not grinding noise and easy going in reverse , any ideas what can be the cause for this problem may be the transfer case is bad , some adjustment in the transmission and where I have to adjust , I will apreacite it someone who help out thanks dornier34