When I had my 98 XJ I did this. Just cut the bottom of the stock door hinge pins and that made it easy to take the doors on and off, just have to disconnect the wiring harness too which isn't hard.
My only caveat is that the XJ has a pretty flimsy unibody so unless you're running frame stiffeners, I wouldn't recommend going wheeling with the doors off. The doors actually provide some rigidity to help the frame from flexing. Without them, if it flexes enough the doors won't line up or even be able to close or open in some cases.