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yor car has got the troublesome jatco gearbox. you need to get someone with a code reader to get the fault codes out of the tcm {transmission control module} may be just low fluid level or selector cable jgate problem but more than likely the box has failed and needs replaced/repaired
you have a broken output shaft on the transmission or a brocken universal joint the grinding you hear is the parking pawl trying to engage make sure the wheels are blocked so the car does not roll away,
02-06 Jaguar X-types should all have a sealed transmission which cannot have fluid added to them but by the transmission shop. My wife's 02 x-type had the tranny go out completely at about 80K. Cost us $3500 and our transmission guy said it was a very common problem/manufacturing defect.
If it doesn't go into reverse odds are the transmission is on its way out. Good luck!
Observe all engine drive belts sometime a worn belt will chatter and vibrate vigorously causing this condition, have an assitant put the car in reverse as you look at the drive belts.
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