Sounds like you were on salted roads which had attracted the damp, and formed a very slippery early evening surface.
I think what you experienced was pure wheelspin which felt like judder as the tyres scrabbled for grip and the car running wide, hence the TC light.
As above, no harm in checking see when (if) the gearbox oil has ever been changed, not as i think this is anything to do with the event described, but good preventative maintenance.
As said. The S type Jag is Rear wheel drive, and in icy conditions you can induce wheelspin or a slide quite easily.
You need to feather the throttle in cold, damp conditions. Imagine there is an egg between your foot and the accelerator. Stamp, and you break the egg. Be delicate, and the egg remains intact.
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