My steering wheel stopped telescoping. I hear the motor running as the key is inserted and the seat/steering is moving for easy entry/exit. Tilt works fine.

 

I've posted a how to on getting at the motor drive cable. Sounds like the end of it has rounded off, a reasonably common issue. The part cannot be bought separately, so find a breaker/someone parting out and get hold of the cable, the how to explains how to get to it by removing the wheel and dropping the column to access it all.

https://www.jaguarforums.com/forum/x...62/#post247733

 

The 4" drive cable is available from Coventry West (Land Rover Parts | Jaguar Parts | Coventry West, Inc.) for about $40. They had some made because this is a rather common failure.

 

While I've not tried this (yet, though my reach cable is nonfunctional as well), but if you are feeling industrious, you may be able to make your own:
https://www.jaguarforums.com/forum/x...h-cable-50906/

There is a comment on this thread from Dick from Coventry West about on this about their cable as well. There are options.