My 2007 Jaguar xk has been sitting in the garage for about 2 weeks. Today I noticed the action with the steering wheel was a bit stiff. As I pulled out of the garage I noticed a fluid on the garage floor. I'm thinking it was a power steering fluid leak. Didnt appear to be oil. I proceeded to my destination about 15 minutes away. I parked the vehicle and returned about 30 minutes later, turn on ignition and the power steering was normal again. Please advise on what may have happened and should I do at this point?

SOURCE: Suddenly leaking power steering fluid, reservoir empty

The best bet is its trans oil. The gearbox has crushable washers/gaskets, the bolts may just need to be tightened slightly to crush the gasket and seal.

SOURCE: Power Steering Fluid Leak, boiling fluid.

Look at the steering rack on the side of the car that you think the leak is, look for the steering rack boot or gaiter, it looks like a black circular accordian type thing.
If this is bulging and leaking fluid the seal in the end of the rack is gone, this is one of the most common faults of leaking fluid and at the rate you are losing fluid, the leak is on the pressurised side of the system after the pump (the seal at the end of the rack)

SOURCE: Jaguar stalls

There is a gold plated wiring harness update available which replaces the 4 main wires that connect to the throttle body, i would try this first.

SOURCE: steering is stiff

the problem could be contamination in ps fluid.i would flush the system and replace fluid first .if that does not solve the pronlem you most likely need power steering pump. the steerjng box is very unlikely.

SOURCE: brake lamp failure Jaguar XK 2007

Replace the lamps