Hello Steve.
I suggest you take the car to a transmission specialist as soon as possible and drive the car as little as you can in the meantime.
The six speed boxes can exibit as many problems as the old 5 speed units.
If the transmission needs a rebuild, plan on around £1800 which should include a manditory converter overhaul to remove debris.
One guy in Switzerland had terrible problems with his six speed and opened a web site about it. It is called "The Lurch" which fully describes the problem. Take a look.
Also have a good look at postings on this Club BB and also those on the XK8 and X308 sites. You will see a common theme emerge regarding these gearboxes.
Advice from Bristol Transmissions who rebuilt my five speed unit is to change the oil every 24k miles or every two years.
Jaguar sold these cars saying gearboxes were sealed for life and required no oil changing. Ridiculous statement as oil wears out and then wears the gearbox out. Great for the sales outlets but not for us.
This link shows what happens when oil wears out. The clip from u-tube depicts a five speed Jaguar transmission filter choked with debris. Solenoid and valve packs also become clogged and eventually expire.
http://www.youtube.com/watch?v=yHny69FP ... B&index=17
If you can get to Castle Bromwich on 20th March, the S-type Seminar takes place. Transmission problems and maintenance are on the agenda. Tickets from Nigel Thorley at £60 each. money well spent.
Sorry to hear you have this problem. I`ve been through all this myself.
Come back to me if you need further help.
Mike Kennedy.