I ran the XJR up on ramps and tried to bled the brakes. It was very difficult to even reach the bleeders.
What is the normal procedure, pull the wheels?

 

Yes, pull the wheels. I do it the old fashion way. Wife in the car pump, push, bleed, let go, repeat, make sure your reservoir does not run out of fluid. Right rear, Left rear, right front, left front in that sequence.

You should not have to bleed the brakes ever unless you are doing a brake job. If your brakes are spongy and you feel air got in them, figure out what happened and address it first.

 

It sure looked like pulling off the wheel is the best option. I am not bleeding them, the fluid looks like it is original. Ten years and 103,000 miles it is time for a change. The fluid in the reservoir looks terrible.
I use a power flusher. Cannot get anyone to pump the pedal for more than five minutes. With the power flusher it only requires pressuring up, and opening the bleeder until clean fluid comes out the passenger side rear, then the driver side, and up to the front.

 

Got it. What fluid are you using? I used Pentosin Super Dot 4 in mine in the past.

 

That is what I used in the Audi. Went cheap this time and picked up a gallon of NAPA Heavy Duty DOT 4. it used to be close to the same price as a liter of Pentosin. Seems to run about 30.00 now.
Do not know if the Pentosin is better, low viscosity is not critical in this Houston heat.

 

A tip re the use of a power bleeder. When you open the bleed nipple be sure you are not sucking air via the threads. This is not a problem with the 2 man procedure but it certainly is with power bleeders.
When you have completed the flush steps, go back to any rear wheel and ever so slightly do it again followed by a diagonal front, followed by the remaining rear wheel and remaining front wheel in order. This because the braking system is a "dual diagonal" system. If you don't follow this procedure you will have a hell of a time getting rid of a spongy pedal.