Greetings man!
Before offering my humble opinion,
of which I have many, I would first ask has the car sat idle for any
length of time in recent months?
You say it has been maintained, does this include complete transmission fluid changes filter included?
Even if so well maintained the transmission is now over 20 years old and even with low miles age is a factor.
Things can gum up if not thoroughly kept up. BTW, too much fluid is not good either.
I
think I have had every common problem with Jags there is. Changed the
trannie on my XJ-6 once and pray I NEVER have to on the V-12's.
Co-incidentaly I also have an '85 VDP (XJ-12) also with about 75000 miles on the clock.
It has a sticky tranny somewhat like what you describe.
Your car isn't charcoal grey by chance is it?
It was a one owner car until I bought it and documented maintenance going back to the day of delivery.
I also have a 1987 VDP V-12 with seven previous owners, that has 175000 on it and it works perfectly
And a '87 Soveriegn XJ-6 which has a very sloppy 300,000 miles on it and it runs so well !!
Am I saying Jag's thrive on neglect?
No but, of all my cars the '85 has had the best care, best 'provenance' and gives me the most trouble.
As well as the most FUN! It is FAST FAST FAAST!
Hate to ramble on like this, but it may not be as simple as it looks, or as complicated either.
Hard to diagnose a trans problem on a forum, and also easy to get driven crazy by wild guess's
Good used later version S-III six cyl trannies are not easy to come by and not cheap to rebuild.
(Bad ones are plentiful tho) Do get it looked at by an expert before it lets you down.
Cheers,