2005 XJR

Feels like there's an "in park" switch in the shifter that's not staying seated. If I put pressure on the shift knob to the right, the beeping goes away. But if I take my hand off the shift knob it moves over a tick and the beeping resumes. Not sure if this is normally a fault in the shifter assembly or the shift cable.

 

If you've the 6HP26 then it could be where the shift cable is fixed (under car) to it. Check both small bolts are present & not loose.

 

The beeping is the warning for when you try to move the shifter out of park without pressing the brake pedal first. If everything is in order, the shifter remains blocked in the park position and you hear the beeping.

I think that you need to dismantle the middle console to see whether it is caused by a defective switch, or a problem with the shifter cable.

Best regards,

Thomas