Can you drive a Jeep Grand Cherokee limited without rear shaft?

No, you cannot reliably drive a Jeep Grand Cherokee Limited without the rear driveshaft. While you might be able to move it very short distances in 2WD, doing so will damage the transfer case. The transfer case is designed to distribute power to both axles, and running it without the rear driveshaft puts significant stress on its components. This will likely lead to expensive repairs.