As per the title, on a 2016 XJ but applies to all AJ133 SC equipped Jags.
A good video by one of my favourite car mechanic YouTubers, Rainman Ray, showing the whole process step by step.
Part 1 just out showing how he dismantles the SC etc (required to access all the problematic coolant pipes), part 2 later which I guess shows him removing and replacing the pipes in question plus a few other "while you are in there" bits and pieces such as the water pump and the SC coupler.
Only a couple of brittle plastic bits broken so far and only one egregious mistake - at one point he complains that Ford did a poor job of engine design, from the POV of a mechanic having to work on it.