This happened to me ever since my jag s-type came out from the tune shop. Whenever I drive the car uphill (the vehicle is slightly loaded) i hear a jarring noise much like of a grinding one. My uncle said it could be the axle so I researched the Internet and found it at Jaguar Parts. I'm not quite sure if it is indeed the axle my uncle's talking about, but the site had good description. A little help please before I pay for mechanic help. Sound coming from under doesn't quite appeal to me let alone my partnet. Please help.