Jaguar Repair Problems? Ask a Jaguar Repairs Expert.
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Your description of the problem leads me to believe that the brake system needs a simple bleeding procedure performed.
Ensure vehicle is level. With ignition off, pump brake pedal approximately 20 times. Top off brake fluid reservoir. Bleeding sequence is right front, left front, right rear and left rear. Bleed system until fluid is free of air. DO NOT allow brake fluid to drop more than .4" (10 mm) below maximum mark on fluid reservoir.
Let me know if this helps!