yes there is, over the rear IRS cage, there are brake lines and rear calipers which are smack in the center over the suspension cage. You could reach them from below the car with a <span style="color: #FF0000">lot of safety precautions</span>, the XJ-6 weighs over 3 thousand pounds, so let me repeat: <span style="color: #FF0000">A LOT OF SAFETY PRECAUTIONS!</span>
Those rear Brakes are not a job for the inexperienced, best to let an experienced Jaguar technician repair it, (unless you are), spend the money required and avoid any possible danger or future problems. Brakes are a SAFETY item.
However, if they tell you that the rear Cage must be removed, just walk away and go elsewhere.
Depending on where you are, call different Independent Jaguar mechanics and tell them to give you a ballpark cost for brake work.
And that is ASSUMING that the leak is back there, but you don't know that it is! Best to get a visual and let them tell you. Don't tell them "I think the REAR brakes are leaking", because an unscrupulous mechanic might see an opportunity to make more money on repairs that the car does not need. Better yet, find a friend who is not out to get money from you, and let him tell you where the leak is. Can't be THAT difficult to find. But if you're going to put a friend under that car, remember that <span style="color: #FF0000">SAFETY is NEVER ENOUGH!</span> Put enough Jacks under the car, tie the hands behind the back of whoever is at the wheel so that the transmission is not engaged by accident! (engine needs to be running as someone starts the engine and applies the brakes and someone else adds brake fluid, while someone else looks underneath to see it leaking). Put wedges on at least 2 tires. It's never enough!
The Good News: you lost ALL the brake fluid? GREAT! that means you start out with fresh fluid, which probably needed to be changed anyway!
Last: if there's no leak found underneath, it's probably the Booster/Master Cylinder Seal, so it's leaking the fluid inside the booster, time to rebuild it or better yet, get a new one!
Good luck.