A Jeep Grande Cherokee 1998 runs perfectly fine for about 6 miles (Or 15 minutes), and then starts to slowly at first, and more frequently later, have a behavior where it sounds like a high frequency to lower frequency sound lasting about 3 seconds, followed by a click, followed by 10 seconds of normal behavior, and a repeat. It seems to stop doing this after 3-4 times, then repeat after a minute of normal behavior. It also seems to improve slightly when stopped at a stoplight or other similar thing. When the click happens, there is a dragging to the left. The car is drivable, but it is more difficult.
What is going on with the vehicle, and what can be done to fix it?