Car moves slowly in drive but ok in 1-2-3-D.

is it worse when moving slowly and better when fast ? check the drive belt to the power steering pump for tightness and condition, power stering fluid level, if all these are ok then would presume the pump needs renewing

Transmission may now be toast since you continued to drive it when maybe low on fluid or torque converter had failed. How long since last fluid and filter change? Ever?

if you accelerate to 2240 rpms and the vehicle moves slowly then everything is not right in the transmission
disregard the dash board fault codes and have the codes read at the data collection point. At a rough guess I would say that the transmission oil level is very low and needs changing or topping up.

If it lost power slowly I would suspect the catalytic converter, possibly blocked.

PROBLEM WITH TRANSMISSION. Check the ATF level. if low add fluid. if fluid level ok, then repair the transmission

IF IT HAS REVERSE OK 3,4,5 OK 1-2 SHIFT FORK IS SUSPECT INTERNAL

Check transmission fluid level. If level is ok, may need new filter and tranny fluid.

the level of fluid may be ok but it may need new fluid , when was last changed ? i'd change fluid as a first step

It sounds like the torque converter has gone, the engine will still run ok but the car wont drive. best way to tell put the car in drive and take your foot of the brake if it creeps forward then thats most likely the fault.

Other possibility is the fluid the gearbox is to low or the system needs bleeding.

I'm not familiar with the jag but my ford is similar( no dipstick). I'm led to believe these are designed to prevent overfilling, which can blow out the seals. I undo the top pipe which goes to my radiator to cool the trany fluid, then get a 1/2 metre length of plastic tube to fit between the disconnected pipe and a 1 litre bottle of fluid. I then squeeze the fluid in that way....no more than a litre at a time, then try driving it again..Hope this helps.