Brake Disc Surface Preparation (G2936667): Check

CAUTION: Do not try to diagnose the issue by running the vehicle with the wheels off the ground as this is may cause damage and false DTC's.

NOTE: This procedure is only to be completed if there are symptoms such as brake noise and judders felt through the floor during braking.

Courtesy of JAGUAR LAND ROVER NORTH AMERICA, LLC

Inspect the front and rear brake discs for any signs of brake pad deposits along with brake disc surface roughness.
CHECK and rectify any Diagnostic Trouble Code(s) (DTC(s)) related to the Anti-Lock Brake System Control Module (ABS).