Replace one of the rear parking sensors on your Jaguar XF. My XF is a 2012 X250 (Mk2)
The part number of the sensor in the video is 2W9315K859 - ensure you buy a sensor the same colour as your bumper
Another symptom of this issue is when putting the car in reverse, the radio/entertainment system will suddenly cut out after a short delay (5 seconds or so)
There are videos and guides online for how to remove the rear diffuser
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