2000 s-type obd 2 code p1576 - 2000 Jaguar S-Type

That code represents a malfunction in the idle control or with sensing info to adjust vehicle's speed. This is usually caused by a faulty potentiometer which is located at your gas pedal. Instead of having a throttle cable going from the pedal to engine your vehicle has an electronic system which interprets pressure applied to the pedal as voltage and sends that info to the computer and your vehicle accelerates. If that is bad or you have a fault in the wiring or a loose connection between those two points it will trigger that fault code as well. That part like most jag **** is a dealer only item. I'm a jag owner too if it's not obvious. Hope that gets you headed in the right direction now and good luck