My feelings for the Jaguar S-type are best described as paternal. While I am not blind to its faults, I still love it.

First there’s the styling: most people like the front end or the back, but not both. Then there’s the dashboard, which on early cars is an unfortunate hotchpotch of LED readouts, ugly storage compartments and poorly placed buttons.

But do not be put off. If you fancy a car that can happily munch the motorway miles and still make you and your passengers feel special every time you start the engine, then the S-type is almost unbeatable.

Launched in March 1999 it was Jaguar’s first direct competitor to the BMW 5-series and Mercedes-Benz E-class. Initially available with a choice of 3 litre V6 or 4 litre V8 it struggled to compete head on with competitors who offered cheaper 2 litre entry-level models.

But Jaguar won sales with a combination of competitive pricing and excellent levels of standard equipment which included alloy wheels, electrically adjustable front seats, automatic climate control and a multi-function trip computer.

Buyers could choose an SE model, which added leather seats and cruise control, or a Sport model with 17in alloy wheels, sports seats and lowered suspension, ideal for owners prepared to sacrifice a little comfort for driving dynamics.

The S-type’s trump card is its ride. Its road manners are excellent, both supple and responsive. Find a used car fitted with the optional CATS suspension, a computer-controlled adaptive damping system, and you’ll find its handling is nothing short of sensational.

And despite its slightly portly girth, the S-type exhibits a surprising turn of speed. A 3 litre manual will hit 60mph in just 6.8sec and tops out at 146mph. Middle aged it may look but it isn’t wearing slippers yet.

Jaguar pioneered voice-activated audio and telephone controls on the S-type and while it was an expensive addition to the car’s price when new, second-hand it commands very little premium but is well worth hunting down.

In March last year the S-type underwent a midlife makeover. This was no mere cosmetic refreshment but gave the Jaguar some significant enhancements. A new dashboard sorted out the car’s dislocated ergonomics and changes to the seats increased the rear legroom. Revised engines included a new 2.5 V6 that produces 201bhp, an increase for the V8 from 4 litres to 4.2 litres and a useful extra 19bhp, and the long-awaited S-type R with a 400bhp supercharged lump.

But the most significant enhancement was the introduction of a six-speed automatic gearbox. This, combined with revised suspension settings, make these later cars an excellent buy if the budget allows.

With all Jaguars, service history is essential so make sure you check the invoices as well as the service book. And be careful: with a heavy body, big engine and auto box, the S-type is prone to wearing out front discs and pads. Check when they were last done or you could face a £400 bill.