Jeep 2015 Cherokee - Owner Manual - Manual (Page 275)

Once the vehicle is in a standstill condition, the driver
will be instructed to place the shift lever into the DRIVE
position.
When the driver places the shift lever into the DRIVE
position, the system may instruct the driver to wait for
steering to complete.
Check Surroundings — Shift To Drive Check Surroundings — Wait For Steering To Complete
3
UNDERSTANDING THE FEATURES OF YOUR VEHICLE 273