I usually got lurching going from a standstill; hit the gas pedal, no response, then car jumps forwards. I also got intermittent ABS/Trac errors.

What did not work or help
1. Resoldering pins in ABS module
2. Cleaning wheel speed sensors
3. Cleaning ABS connectors
4. Replacing transmission fluid and filter

What worked
1. Disconnecting the ABS module (awaiting rebuild).

The caveats are that it disables the speedometer, ABS and cruise control plus makes a low brake fluid and handbrake light show all the time. For me that's no big deal. A rebuild is $30 on Ebay and involves upgrading components to boost signal strength, probably the solution if you get intermittent errors!

 

Please let us know the result of the rebuild. I sent mine to two different sources listed on ebay and finally replaced it. They fix the pin problem, but that's all.

 

Will do, one rebuilder says:

"Considering the massive amount of 1997 to 2004 JAGUAR ABS control modules
failures, we perfected a repair kit with updated components that can withstand high
pressure. We will also repair weak points known on those modules to prevent it from further failures.
For years and over a thousand of those ABS modules being repaired we
have practically no warranty returns."

So looks like it's not only solder joints.