How do you check a rocker arm on a 2000 Jeep Grand Cherokee Limited with a 4.7 V8 engine?

Rocker Arm problems, specifically with them falling off, are common with 2000 JGC's. You can get the code read, which will point to the cylinder that has the failed rocker arm and then remove the left or right rocker cover to inspect. The problem with the falling off rocker arms tends to be a slippage of the valve guides that leaves the valve to hang up and removes the stress from the rocker so it just falls off. Replace the heads. Replace the HEADS? Sounds drastic. How about repairing the heads?