The plastic 'reach' gear or steel threaded 'screw' is/are damaged.
I always just replaced the column complete when I worked at the dealer. There are no repair kits available that I am aware of. No individual parts for the column repair.
A salvage yard is likely you best option for a cost effective repair.

bob

 

https://www.ebay.com/itm/Jaguar-XJ-X...z1Qf:rk:8:pf:0

or

https://www.ebay.com/itm/1999-JAGUAR...oTL:rk:12:pf:0

 

The reach motor in your column works. You do not need a replacement motor.

The entire ebay column will work but you need to transfer the ignition lock assy.

bob

 

Looks like your reach motor sometimes works and sometimes doesn't. I am not one to argue with motorcarman but years ago I bought a part from Coventry West Coventry West - Jaguar and Land Rover Parts that restored the reach motor's ability to move the column in and out. It was a tightly-wound spring part about four or five inches long that did the trick without replacing the reach motor. Not absolutely sure it is what you need but it is a reach motor fix. Glancing over the site now I dont see the part immediately, but you could give Coventry a call too and ask if they still sell them.