You need to get the fault codes out of the the tcm.ie, transmission control module with a scan tool suitable for your car. i think you have a problem within the gearbox or its control module, the fluid level and condition ie smell of burn {which indicates slipping clutches etc} should be checked first, which could indicate.mechanical problems the control module in your zf auto box is within the gearrbox, i dont think there is a self fix answer to your problem you need expert help, hope this was helpfull to you. cheers.
SOURCE: Reverse gear has grinding noise...?
Have them flush the fluid out under warranty and put in new fluid, and have them bleed the clutch lines in case air is getting in there. Audi and VW claim lifetime transmission fluid but it's BS - I've changed relatively low mile fluid from these cars and it was horrendous. It's possible that the fluid itself is causing trouble, but it's more likely that it is a synchro problem. If it was a clutch issue, you should have problems with more than just reverse gear - a clutch simply engages and disengages the engine and transmission, regardless of which gear it is. The problem (if not fixed by fluid) is in the transmission, and being under warranty, don't accept another "suggestion" like they're giving you. Changing your clutch isn't gonna do it.
SOURCE: I have a 1999 Jaguar XJ8, there is a Check Engine
the gas gauge is not related, that would be a defective gas gauge sending unit in the gas tank, the check engine light indicates that one of around 200 poss faults has occured in the electronic engine controls, you will need to have the OBD 2 engine control system tested for the fualt code that is stored when the light is turned on.
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SOURCE: Jaguar XJ8 1998 3.2 cranks over but won't start
fill with 5 gal of fuel, check fuel at motor , looks like tire valve, cover with rag and let evaporate if any comes out before starting
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SOURCE: My transmission fault message is coming on and it
A small leak over period time will cause fault light (amber) to come on. There is no dipstick. Can only be refilled by dealer or certified Jag Mechanic. Cost of fluid at dealer $60. Quart. Check online; $15 quart
SOURCE: My 2000 Jaguar XJ8 has several different warning
42 miles with a jaguar. First I love Jaguars. Youll get to your home by a tow truck. The car is talking to you say its sick.Here is what will happen, The TRAC, ASC, light is on okay the APP will now go to limp home mode what this mean it will default giving limited operations, youll probable just go 30mph, and that is just it. The transmission does not know what gear or how fast its going so it communicates to the powertrain it tell it I dont know what Im doing so it activates the traction control and say keep me safe the traction control say okay Ill get disable, then the transmission control tell the powertrain I could be burning up or slipping. So The APP(acclerator pedal position ) gets involved and say we will just limp on home.Remeber i love juguars so does tow trucks
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