I'd be fine with that since it is covered under warranty! Can you convince the dealer to do it? Thanks.

 

My wife's 05 S-Type had the exact same problem with the "rear ended" sensation intermittently after stopping. It ruined the enjoyment of the car. I took it to my independent Jag specialist where they re-flashed the TCM with new software. It completely solved the problem. It hasn't lurched once since the update. At the time, she only had about 30,000 miles on the car so I'm not sure how worn the transmission could have been.