This is a subtle thing. It's not a big lunge. But, sometimes, and it seems to be when stopping up more "short" than if a careful, gradual full stop is executed, my car seems to sort of "stop a second time". The car comes to a complete stop, and then there's detectable but subtle second feeling of motion somewhere in the drivetrain ceasing. I hope I've described this well. It does feel located in the trans., but that could be my reflexive hunches automatically placing it there in my perception.

Any thoughts about this? Previous experience?

Oh yes, the dreaded ZF lurch! Many threads on this topic if you search.

Read all the other posts on this topic as previously stated. I was able to fix mine by draining out 2 liters of trans fluid and filling it back up with two liters of fresh fluid. I later flushed the whole thing and replaced the filter and wiring connection o-ring (it leaks). Haven't had the problem since.

well there you have it. My car has 67K miles. I already plan on doing a drain and fill and new pan/gasket at 70K.

Do you believe I'll be OK driving another 2.5K like it is? Or should I get it done sooner?

Mine was at the same mileage when I started noticing it and as I said previously it may be a good idea to get a little bit of fresh fluid in there before you do a complete flush. Sometimes you can "shock" the system when you flush it completely causing other issues. Many years ago I had a car stick in 2nd gear after doing a flush. Cars with high mileage seem to be more prone. I know an engineer at ZF and he has confirmed this. I did a gradual flush starting at 69k by draining out 2L and refilling it. I have heard of a TCM flash that is available as well. Pretty sure mine was reflashed.

I had three issues with the tranny of my 05 which I bought in 07; the lurch after stopping, a notchy 1-2 shift from stop, and a slip and grab at rolling stops with sudden acceleration. I tried the reflash, no change. I changed the fluid and filter pan with Lifeguard 6 and all these issues have been resolved, the tranny shifts as it should. I think the ZF 6 speeds came filled with incorrect fluid that had wrong friction modifiers in it. I did the same thing for the 06 XKR and it solved the chirp symtom as well. I know it can't fix everything, but it did solve these nagging problems.

Thanks for the input. I feel better. I'll most likely carry on until 70K. It doesn't really bother me. Although I do also have the abrupt low speed downshift symptom that I wouldn't have understood was also a problem and not a quirk of this gearbox, as that symptom disappears when I deactivate "sport mode". That symptom does bother me a bit, although I've already learned how to avoid it by carefully applying accelerator pressure at low speeds.

Is this trans fluid approximately $20 per liter? Or $47.50 as I saw on Amazon? Surely not.

Yep, its expensive. Go to the Jag dealer and ask how much they want a Litre! Try this place The CTSC - ZF Parts I have tons of lifeguard 6 that I can sell you, but I don't know if I can ship it