So as the title states I have a 2004 Jaguar S-type 4.2 and it seems to shift really hard from 1st gear to second gear. The rest of the gears are smooth shifting its just those first two. I am new to owning a Jag so I don't know if that's normal or what? I have no warning lights or anything. It does it with Sport mode disabled. I switched to Sport mode and it seems to shift way smoother.

 

Welcome to Jaguar world.

If you have not yet done so, please do an intro in the "New members area" when time permits.

Lots of info on that issue and others with that transmission in the "stickies" at the top of this section.

In the meantime, my experienece with auto transmissions, is the fluid.

You have not mentioned the mileage on your car?, and ZF (the transmission brand fitted) are now recommending a fluid and filter change at "about 80K miles or so". This is despite it being one of these dumb "sealed for life" units.

I also suggest to "new" owners to give the car a COMPLETE fluid change as soon as possible after purchase. Then YOU know where all the fluids are in their life span. This I have done with all my Jags since 1968. Works for me.

 

>seems to shift really hard from 1st gear to second gear.

How many miles? Suggest a tranny drain/refill as a first step. Lots of stories here about smoothing out shifting after a fluid replacement.

Kind of expensive though. Got my fluid/filter/pan here:
http://www.thectsc.com/products/oil-change-kit-for-bmw-hyundai-jaguar-land-rover-rolls-royce-186-50.html

Need someone expert in refilling the tranny, you probably wouldn't to try it yourself (no fill tube, have to pump the fluid in from the bottom and then make measurements while the car is running...).

Good thing is that lots of large lux cars use the same tranny so you wouldn't necessarily have to locate a Jaguar mechanic to do the work.

Hope this helps.
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Jaguar - it's not an automobile, it's a Motorcar
Current: '08 S-Type 4.2 "Satin Edition" (250.06 hp / 259.67 torque)
Past: '05 X-Type 3.0/auto Jaguar Racing Green

 

Yes. You have the "Lurch". For a more complete description of the different kinds of this take a look at this.

Jaguar S-Type Ownership Experience - The ZF LURCH Fault

He is a bit over the top but then he did buy his Jag brand new so a lot of money at stake.

Also do the fluid/pan change as mentioned by others. I used Lifeguard6 but others have used different transmission fluids. Do research how to do this even if you plan on paying to have it done. It's not real straight forward and many people short cut it which you can NOT do!

And finally have you had the TCM flashed with the latest factory software? Dealer has to do it but it might be worth it?

It did help mine.
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