hi
need to get codes read, ideally with Jaguar ids/sdd, or a Icarsoft LR V2, ideally when the fault is present, once you turn ignition off and on it will clear
could be something as simple as a abs sensor, gearbox relies on the abs sensors to shift
also turning at a junction may be a sign of abs fault, as you turn the wheels spin at different speeds and the abs kicks in, hence why some time when you pull out of a junction and floor it, it just pulls real slow and once the steering straightens up, she goes like a good un
cheers
Joe