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2006 Jaguar XKR Questions

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When started this warning comes on and stays on.
Car sputters on right side exhaust pipe when high acceleration is done and also if trying to take off at a stop. What could be causing this?
The pedestrian warning system alarm appears on the dash every time I start up. I have not had any bumps with pedestrians, and the message did go out after a car wash, but has since come back and is always on. Is there a way of accessing the ecu to reset this alarm.
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