My jag 2011 xf reverse doesn't moves sometimes.
R symbol blinks but no moves.after try D mode for a bit forward then R means it will works or switching off the engine then restart also working fine otherwise I feel better in fwd gears.

Also I'm feeling like auto gear shift taking time to shift to next gear and pick-up issue.
Can anyone facing the same problem means pls let me know with the solution.thank u so much in advance

 

Maybe first check the 2 bolts holding the shift cable onto the trans are present & not loose.

 

Time has moved on since your S-Type. The 2011 XF is all electronic from the JaguarDrive selector on the centre console -no Bowden cable to the transmission.

 

Can be a battery issue. Sometimes the shifter itself is failing. Did you pull any codes from the car?