Car is a 2001 Jaguar xj8 Vanden Plas with 86000 miles. It has the 4.0 V8 engine.

The right rear caliper is applying when the others are not. We tried to drive to a brake shop but it began smoking so had it towed. The shops said the ABS Module was bad (solenoid), but they did not do electronic dianosis. We disconnedted the ABS and warnign lights came on but brakes seems to operate properly (no ABS however).

Now the right rear wheel appears to be sitting in at the top when viewed from back and looking at the left rear wheel.

Please advise what is causing the brake failure.