I have a 2002 XKR that has a thump noise after the car has been driven over 1 hour and only is present when the throttle is backed of during city driving.

Sounds like a U-joint but I can not find anything with the car cold. Plan to take a long drive and get it up on stands before it cools off.

Any experience with similar issue??

 

Sounds like the transmission clunk. This seems to be an idiosyncrasy of the trans control and is pretty normal, albeit annoying. Mine is an 03 6-spd but does the same thing, usually as you gently brake to a stop.

What I've found is that if you are harder on the brakes coming to a stop then the transmission is more decisive about getting into first gear. Not really my normal driving style but for whatever reason it make it downshift more smoothly.

You could try a hard reset and go through a drive cycle to let it re-learn the appropriate clutch forces. I haven't done this but have been considering it. You will need a fair stretch of open road without traffic to do it properly though, which has been my impediment in metro Phoenix.

The sequence for the ZF 6spd is posted on several recent threads and I'd guess there is something similar for the 5spd box yours has. Maybe one of the other members has a sequence you could try.

Its all part of what makes our cars special.

 

Thanks, update is that it is not noticeable when the transmission is in sport mode so maybe as you say in the transmission. I'll look for the reset sequence.

This car is new to me but I am not new to Jaguar and all the special nuances.