transmission shifting 1986 XJ6
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It would be a great help of you could be more specific on what car you have. 1986 was a changeover year, (at least it was in the UK, so you could have an XJ6 Series 3, or the later XJ6 of model type XJ40. The gearboxes are different. The Series 3 is a Borg-Warner Model 66, normally fairly bulletproof. However like most things 25 years old, they eventually wear out ! These boxes can have the brakebands adjusted, so all may not be lost, but you could need a rebuild. Other thing to consider is, have you enough fluid in the box ? A low level can cause havoc.
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