I looked into lap belt only options a while back for my old civic, in my case it made sense to get a better car but here's what else you can do:
-You can point him in the direction of a retrofit kit if there is one for that year and model. check here:
http://www.nhtsa.dot.gov/people/injury/childps/Retrofit04/ListOfShoulders.htm If your daughter sits well in the booster this may be the best option because it's much safer for all passengers including your daughter when she's too big for a seat.
-You can get a seat that harnesses past 40 lbs. Currently available models include the Britax Husky (80 lbs but needs a tether past 50 lbs,) Britax Marathon and Britax Wizard (same shell, 65 lbs) and the Nania/Safety Baby Airway (50 lbs.) You could also look into a travel vest for use with a lap belt, the EZ-on Y harness or a discontinued seat such as the Britax Laptop or Fisher Price Futura if one happens to fall into your lap.
-You can put her in the front with the seat all the way back. I assume that the Jeep has shoulder belts in the front seat unless it's waaaaaay old.
-You can swap cars when she needs to ride with him. I have no idea if that would work with your family dynamic but it works out for some people and would mean you wouldn't have to shift the seat around at all.