Hi
I would say the EPB is faulty or hand brake cables have gone tight, you could live with it, but it will get worse
personally I'd get it fixed properly, its either the EPB, more expensive option ( there's a epicyclic gears inside it, than run dry, not enough grease was put inside from new, then they wear and jam up regular, once worn.
or it going to be the handbrake cables, they go really tight as they get old and corrode, overloading the EPB and causing it not to reach it desired position
hears a link to a clip on how to operate the EPB motor manually https://www.youtube.com/watch?v=8xebdRYwtjE&utm_source=JaguarOwnersClub&utm_medium=ForumLinks&utm_campaign=referrals
and you dont have to disconnect the battery, no other memory will be lost.
I'd replace the park brake cable first as there reasonably cheap, or at least check them, they should slide nice and smooth, also check the rear brake calipers lever for the handbrake operates smoothly
normal s-types hand brake operates a lever on the main brake caliper, operating the inner pads only, if there not setup correct this can cause EPB faults
s-type R up to 2005 has two brake calipers at the rear, one solely for EPB and one for footbrake, post 2005 went to budget brakes so handbrake was on single brake caliper
I say budget as pre 2005 R's had four pot brembo's at the rear and a dedicated seperate parking brake caliper, then it also had huge 4 pot brembo's at the front, where post 2005 had single pot, sliding caliper at the rear, with parking brake and single pot, sliding caliper at the front
I removed my EPB when I first had the car, knowing that they can be troublesome and greased it all up and checked the cables were nice and free and mines worked faultlessly for nearly 2 years now.
also if the rubber boots have perished at each end of the cables, they fill with damp and water and this time of year when its frosty, your guaranteed a " EPB FAULT", or excessive rear pad wear and if there frozen, there's no freeing them till they thaw
cheers
Joe