Hi Stan, Your car sounds like it is doing all the same things as mine was when I first bought it mine had the beeping from the passive alarm under the right hand wing and some other electrical issues air bag warning light coming on messages on the dashboard from the command centre, headlight dipping and main beam changing on its own. I took it to a local Jaguar Specialist but not a main dealer who fixed all the faults the airbag was due to the electrical terminals on the clock spring inside the steering wheel not making a good connection terminals were cleaned and re connected, dipping headlights due to faulty switch on stalk lights / indicators / other stuff got a second hand switch £40.00 fitted same time as steering wheel air bag connections fixed. . The passive alarm and other electrical bugs due to faulty wiring loom where water can enter underneath the drivers side headlight as the wiring loom is not very good quality specialist said he has found this problem on many S Types 2004 onwards he said the looms were supplied from somewhere in Eastern Europe and the quality is poor I don't have proof of this only his word. I did not have a whole new loom fitted just uncovered the section under the headlight stripped to expose faulty wires fixed and resealed, while he was under the car he found that the hoses to the heater were both starting to weep at the connectors and replaced both hoses and said they were a disaster waiting to happen my 2005 (05) S Type has only 52,000 miles so if yours is this old or older it might be worth checking your hoses as they can only be seen from underneath and if they split you could be stranded. Happy Motoring Now the car is working 100% and a pleasure to own and drive.