lately when the engine is warm I sometimes can not get out of Park and I have to try a couple of times. Otherwise the transmission feels fine.
I believe you are prevented to switch out of P when the brake is not applied but of course I have my foot on it.
It's a 98 with 75k miles.
Thanks, Mark

 

Are you parking on an incline by any chance?

 

no, float road.

I usually wait 5 secs, release the brake, brake again, try to move it out of P and do it this until it works.

 

Sounds like your brake switch (safety switch) is malfunctioning.. the car doesn't know you have the brake depressed and therefor won't let you move the car out of park and into drive.. its a very common part to go bad in cars and sounds like exactly what is causing you problems.. Lets see if one of our Jag Techs has any other suggestions..