I have a 2013 Jaguar XF 2.0L that displays the P0016 and P0017 code, but car seems to run fine. I can clear the codes and drive it 1 or 500 miles without the check engine light coming on, but as soon as I restart the car the light it on and it's showing the same 2 codes. I changed the camshaft position sensor and it didn't help. Same behavior as before.

 

Hello. Have you solved the problem with those codes? I have the same problem but hard to figure it out.

 

bumping this as I’m interested as well. Same car same codes. Rough idle like diesel for 2-3 seconds on cold start. Drives fine otherwise

 

You may have more help if you ask the question in the X250 forum which applies to your car. This forum is for the X260 (2015 onwards) model.