An amazingly clever design, the trailing arms and rubber mounts allow the IRS to oversteer  under heavy cornering loads. This compensates for the understeer and inertia from the rest of the car as it goes round the bend.

Excellent vid. No silly intros or procrastination. Straight into it!
BTW, with the trailing arms, make sure the large bush ends are seated properly on the body and really tight.  If you hear a knocking noise when driving over undulations, this is probably the cause (too loose).

I just bought a XJ6 rust bucket , for the suspension , you video's helps a lot , Thanks mate

Thank God for your jag experience.
Have great

I just picked up 1988 jaguar xjs. I’m going to need your information and knowledge Think you sir

As always, great video. Lots of information and experience. Keep up the good work

Great Vid. Cańt wait the brakes

Great video. How do you balance the unit on the jack?! Is it fixed there somehow or just balanced?

Is it possible to cut access holes behind the rear seat to remove the calipers?

Another fine video (and another comment for YouTube algorithms)

Hope you have material to make a video of replacing the outputshaft seals

I cannot get the bolts back through the irs mounts and the body on my Series 1 xj6. I've tried using the old mounts and the new ones, they just won't slide through! Any clues?

Why not re-surface those rotors while you had them out of the cage?

Hi Capt'n, I’ve just completed overhauling my IRS (new brakes, discs, bearings etc) and I wondered if you would mention fitting the over axel pipes before re-fitting the subframe to the car as you said it makes things so much easier. I’ve also fitted the brake bleeding kit to the rear calipers made by Fosseway Performance: simon@fossewayperformance.co.uk  again it makes things so much easier. Good point re the radius arm bushes as well I shall have to check mine this afternoon.