I had an intermittant prob like this. It would slip out of gear when accelerating on an on ramp and then would not go back in unless I turned it off waited a couple minutes and then start it up again. Took it to the dealer thinking the worst. Turned out to be low on trans fluid. The trans cooler lines are notorious for seeping. You may never notice any drips. I never did.
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Black 2006 XK 4x4, 3.7L:
K&N CAI, RC 2" Lift, 1.5" Precision European Wheel Spacers, Pinch Weld Mod, Falken Rocky Mountain ATS 265/70r17, Hypertech Max Energy Tune