Did 2002 Jaguar have a Ford engine?

No. Although Jaguar was owned by Ford Motor Corp. at the time, and there is a likelihood of Ford engineers having had some input in the design, the engines were solely Jaguar - for the XJ series for that year, a 3.2 liter V8, 4.0 liter V8, and 4.0 turbocharged V8 were available options, whereas Ford (and American auto manufacturers in general) tend to lean towards I5 and V6 platforms for that displacement range.