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It sounds like you have a loose brake shoe inside one of your rear axle brake drums. You will have to remove the rear wheels and brake drums to find out for sure.
Hi the Jaguar XJ6 works off a 12volt, negative earth.... Jauguar are a legend for electrical faults.... ok you need to do a voltage check/fault check on the system, remove the fuses from the associated problems, i.e the rear lights! place a volt metre over the contacts and there should be no voltage present! grab the wiring harness and move it side to side! if you see a rise in the volt metre then there is a short to the earth! this can be done through out the systen including switches.... i would personally check the earth contacts near he problem areas these corrode and you then get a short in the cicuit
Check you transmission fluid level and if it's not your transmission, I'm thinking that your brake shoe lineing in the rear brakes may have separated and is jamming up aginst the drums when your trying to back up. Sorry can't halp you with any more, good luck and start with that and hope it help's.
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