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Many in this forum have managed with appropriate extensions with flexible "joints".
However on my 2005 XJR there is a panel in the box around the brake fluid reservoir which can be removed to allow more direct access through the box and the opening created by its removal.
Had the damn thing in my hand, just not enough room to remove it. The plug should be a non issue, as long as it comes out with no more resistance the other seven.
Just did my plugs yesterday. It's fun isn't it. I think i rotated it around 180 degrees and the was space to angle it out. I find getting the Jaguar cover back on at the end the most tricky.
Wobbly extensions were the only way I could manage to do the plugs on my 2005 XJR. I too had to remove the plastic piece for the driver's side rear plug. The insulation completely fell apart while doing so - consider yourself advised.