I have had the same experience.
Owners of 2014 and 2015 Jeep Cherokees are experiencing a problem when they tow the vehicle behind a motor home.
The Jeep goes out of control, rocking the MH back and forth.
According to postings on the Family Motor Home Association website, it happens with different brands of motor homes, different chassis (front gas or diesel pusher), different tow bar systems, different braking systems.
The only constant seems to be that they are towing Jeep Cherokees. (In my Jeep the ESC icon is lit on the dash display.)
The Jeep dealers deny that the problem is with the Jeep.
This is a very dangerous problem. The only way to stop the rocking is to come to a complete stop where ever you are, and start over.
I have filed a complaint with the the National Department of Transportation.
If everyone who has this problem also does so, they will see that it isn't an isolated problem.
FYI I towed for over 8,000 miles before I experienced this. So, if you haven't, it doesn't mean that you are safe.