P0810-56 Clutch Position Control Error - Invalid/incomplete configuration: Action

WARNING: This page does not describe the selected car, but rather 12 other vehicles, including the 2017 Jaguar XJR, 2017 Jaguar XJ, 2016 Jaguar XJR, 2016 Jaguar XJ, and 2015 Jaguar XJR. However, it is still accessible from the selected car via links, so may be relevant.

Using the manufacturer approved diagnostic system, perform routine - Calibrate Clutch (401F) - To calibrate clutch
Then, using the manufacturer approved diagnostic system, perform routine - Learn Clutch Open and Close Point for a minor calibration value change (408E) - 3 times to learn clutch open and close point for a minor calibration value changes
After this, set torque request to 1000 Nm, using the manufacturer approved diagnostic system, perform routine - Lock Center Differential (4021) - To lock center differential. Clear DTC and retest
If fault persists, check and install a new transfer case control module as required. Clear DTC and retest
If fault persists, check and install a new transfer case as required