Complex sentence: Jaguar were approached by racing team owner Tom Walkinshaw and his company TWR in 1981, and encouraged to enter the Jaguar XJS into the European Touring Car Championship they succeeded in winning the competition in 1984.
Split into simpler sentences: Jaguar were approached by racing team owner Tom Walkinshaw and his company TWR in 1981. Encouraged to enter the Jaguar XJS into the European Touring Car Championship, they succeeded in winning the competition in 1984.