limp mode

The P0700 code tells you that the TCM (transmission control module) asked the PCM to illuminated the CEL. It's an indication that there is a DTC stored in the TCM. The code can be cleared from the PCM (by disconnecting the battery for 15 minutes) but if the transmission issue is not resolved, it will just return later.

What work was done to the transmission and was the CEL on before the work was done?

Maybe some auto tranny experts can chime in too?
 
My 2005 tj was stuck in limp mode for months could only get it out by pulling battery post to reset tcm . took to shop to get codes . found that it was showing a bad soliniod . so I climbed under jeep and decided to take all connectors loose cleaned and put back on . now transmission shifts great like new . not sure if that will work for your jeep but definitely some thing to check . happy jeepin .