This tearful account of transmission woes has me telling you my tale of recent Jag ownership. When I bought the car (private) within a few miles I noticed a rumble when going over 30mph coming from the floorpan/transmission area. Using it for the commute, the gearbox was terrible until warm, then just about bearable - almost comically bad. Now I am a biker, and have been for many years and one thing we bikers are used to is; a multi-plate wet clutch. And one thing these clutches are sensitive to is; fluid level. I was fairly sure I would have me a good transmission once I got around to replenishing the fluid.
So I got the kit together and force-filled the zf with 7 litres of lifeguard and the transmission has been wonderful ever since (as I expected). The trouble is that the refill instructions (fill until oil seeps out of the refill port - start engine, do again) only manage to put 2.5 litres or so into the 'box and that will never cure the problems manifest.
Now I wanted to add an extra litre to the transmission but didn't want to drain/refill the transmission in order to do this. So after a while I thought about adding fluid to the zf via the oil cooler in the unified water radiator. Going 'in' by the upper hose did not flow but the lower hose allowed fluid to be introduced albeit at a very slow rate, about 1 litre in 30 minutes!
My point is - if the rumble is apparent but the gearbox functions well when warm, add fluid the way I have described until it goes away and forget garage advice - they do not have the correct service instruction.