I am about to change the brake pads in my 2007 Jeep wrangler JK, 2WD, and notice that when I lift the jeep, and the wheels are off the ground so as to remove the wheels, the wheels do not rotate 100% freely. The brade pads are still touching them slightly. The same for the rear wheels. I believe they should rotate totally free. Is there a problem?

There probably is not a problem. Just be sure to clean and lubricate the caliper pins with silicone grease. These links should help:

https://www.askmehelpdesk.com/cars-t...ml#post1618425

https://www.askmehelpdesk.com/cars-t...ml#post2691596

There always will be a little drag on the disc pads on any vehicle. This is so they're ready to go to work when needed without delay.
Back when I was learning on cars, an instructor once told me if you were to drive coast to coast without touching the brake, you would have used used up a MM of brake pad.
Other than that, Tx has given some excellent advice. Just be sure to use jack stands, wheel chocks, and be safe while the wheels are off the ground.