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From your description it sounds like an electronic throttle problem. You most likely saw transmission fault, engine fault, DSC or park brake fault. When the failsafe warning comes on the ECM has detected a fault and goes into this limp mode. Since the warning message cam on there will be fault codes logged in the ECM (engine control module) that will need to be read with a scan tool. You will need to visit a Jag specialist or dealer to have these codes read but first go to your local parts store like pepboys or autozone as they will scan it for you at no charge. Once you have the fault code numbers let me know what they are. If the codes are P0121 or P2135 I suspect a throttle issue.
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Ellen
Licensed mechanics