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2009 Jaguar Vanden Plas Questions

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this also only occurs on my way home - in the morning i never get the noise at all , after work frm the first stop as I came to a stop, it lets out a crazy groan/noise especially when you are braking slowly ?? Seems that it is when it is warmer outside?? it almost is every time it stops
When I start the car, the panel says the cruise control is not working. If I turn off the engine, then restart, the warning is not there. It shows up every time I start the engine.
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