I typed up a long response, but my session timed out an it was lost.
Long story short, I will take some pictures later today and post.
I have a 3rd Generation Grand Cherokee (also know as "WK", model years 2005 - 2010). The current model (4th Gen, model years 2011-present) is very similar body and interior dimensions.
The biggest issue with the GC is that the rear compartment (with seats folded flat) is kind of narrow (because of wheel wells projecting into interior) and kind of short (floor to ceiling). Unless the dogs are lying down flat, they block all rear-ward view out the rear window.
I also have a Mercury Mariner (same as the Ford Escape). While it is smaller vehicle overall, the rear compartment is wider, taller, and offers fewer obstructions, gaps, and problems when seats are folded down. The rear windows are more of a "wrap around", so the larger interior dimension and the larger windows (than the GC) allow good rear and 3/4 views even with the dogs standing up.
The best way to figure out all the quirky differences is to find a used car dealer who has several different manufacturers' SUV's on the lot, then part them side by side to compare. You will be surprised at all the differences you will notice once you can compare directly. Also, find a place which will allow you to take the dogs for a ride. It's a pretty simple conversation: "I would like to buy this vehicle, but I can't do it until I know if my dogs will fit and that I can see out the back of the car when they are riding in it." If they say "No", then go to a different dealer.