I have a xf 2.2 Diesel 2013, it has just developed a fault occasionally when pulling away it appears no gear has been selected and just revs the engine and the D flashes. I cant even select a gear on the paddles, I had to put into park then select drive and away we went.

 

any ideas of the issues or experienced the same ? 

Car needs scanning with SDD first off.

Problem could be electronic, issue with gearbox or likely torque converter. Sounds like an electronic issue somewhere to me, hence the SDD scan.