With Thruxton - the UK’s fastest motor-racing circuit - as the setting, Murray was given the task of hitting a tiny target on the back of the cars as they accelerated past him.
The cars included were Jaguar’s supercharged XE S, the F-Type SVR and the brand’s new Formula E racing car in teaser livery - all of which were piloted by tennis legend John McEnroe, who was disguised as a stunt driver.
Murray said: “Trying to find an inch-perfect serve at 130mph against the top players in the world is tough enough, but hitting a target racing past you at 160mph was the toughest and most unique challenge I’ve had.”
McEnroe, who revealed his identity at the end of the challenge, said: “I wasn’t going easy on Andy. You can see from his reaction when he realised it was me. It was priceless!
“I’ve seen him react badly before, but nothing quite like that.”
The three-time Wimbledon champion admitted he was impressed with the F-Type SVR, saying: “It’s a bit like the first time you go on a rollercoaster - and when the adrenalin kicks in - it’s exhilarating, especially going round the corners at 150mph.
“It’s a very different sensation to playing in front of 15,000 on Centre Court.”
Looking ahead to The Championships, which start on Monday 27, Murray said: “At the start of the year, Wimbledon is the one tournament that every tennis player wants to win.
“There’s more competition for every point, and the pressure is more intense during these two weeks than at any other Grand Slam. I’m confident I’ve got a great chance.”
If Murray wins this year, it will be his second Wimbledon title.
In 2013, Jaguar dealers were voted the best for customer service in a poll carried out by information service company JD Power.
It was the second year running that Jaguar was voted best dealer, while it has also come top of similar polls for car satisfaction.