DTC P0721-62: Output Shaft Speed Sensor Circuit Range/Performance - Signal compare failure: Action

WARNING: This page is about a different car, the 2015 Jaguar XF, 2014 Jaguar XF, and 2013 Jaguar XF. However, it is still accessible from the selected car via links, so may be relevant.

Using the manufacturer approved diagnostic system, check the anti-lock brake system control module for related DTCs and refer to the relevant DTC index
Using the manufacturer approved diagnostic system, clear the DTCs and road test the vehicle. If the fault persists, install a new transmission control module