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The jaguar gears get stuck normally if you're parked on an incline. Its a default Jaguar will not acknowledge. rock the car back and forth a couple times and it will shift. Hope this helps good luck!
The whine is most likely your power steering pump. Check the fluid in the pump. If you are low on power steering fluid you may have a leaking hose or fitting or the seals in the pump may have began leaaking. If you continue to run the auto without power steering fluid you will burn up the power steering pump very quickly.
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