1. Safely block the wheels--safety first.
2. Remove the TC shift bezel--the plastic piece.
3. Shift fully into 4LO, place a 1/8" drill bit between the rear of the shift gate and then using a bungee cord lock the shifter fully back against the drill bit.
4. Crawl under the XJ, locate the lock nut on the adjusting rod trunnion lock bolt and loosen it so that the rod moves freely through trunnion.
5. Make sure that the TC is fully engaged in 4LO--water pump pliers (large, slip-joint pliers) come in handy.
6. Tighten down the trunnion lock bolt.
7. Remove the bungee cord and 1/8" drill bit.
8. Replace the plastic bezel.
9. Road test it.
In severe cases--like TC drops--even a proper adjustment may not correct the problem. Tying the shift linkage to the body can be problematic when things get worn or modified.