If your engine has started, the rotary selector has risen and D selected then the engine can be stopped. Once the engine is stopped, the selector will automatically reset to the P position and the transmission park lock will engage. The normal start procedure could then be repeated several times.If the transmission will then only go directly to D (R not available), there must be an interlock or TCM (Transmission Control Module) Malfunction.This is something you can get checked easily at the gearbox auto services. As Jaguar transmission repair specialists we’ve come across this issue with several customer vehicles and have rectified them without breaking a sweat.