1999 Jeep Cherokee Sport 4.0L V6 4X4 engine hesitation

I have a 1999 Jeep Cherokee Sport V6 4.0L 4x4 4 door. It is currently having issues with engine hesitation. When it idles it frequently drops below about 800rpm and stutters up and down. When it is in drive and when I accelerate it stutters and loses power and regains it a few times causing the tires to screech sometimes, it hesitates until you floor it, then it goes away, and if you keep on the acceleration for a minute it doesn't come back, until the next time you start it. I have noticed that it doesn't give me any problems if the engine is heated up to 210, but if it is cold it goes through this hesitation sequence. What may be the issue?