Hmm, i had a look at the diagram i have for the 93 XJ 4.0 which also applies to my 95 XJ 4.0 and the TPS signal pin is Pin 22, not Pin 23.I can't imagine changing the loom, the plug and the PCM just for the sake of shifting one pine along so are you sure you mean Pin 23 or is that maybe a typo, misread the diagram or something?On a more technical note, there's a good chance the PCM has an internal pull-up resistor for biasing the signal processing, whether it's via a DAC/ADC, an op-amp or whatever. This 5.0V at the signal pin when the TPS is effectively open circuit is not necessarily a fault in itself, it could even be used byu the PCM to indicate a fault condition.Next technical question, did you reset the PCM by disconnecting the battery for a few minutes after fitting the replacement MAP sensor? If not then it may still register the fault (even though it's not showing) and still be in limp mode. If you haven't reset itthen it would be worth doing before jumping the gun and condemning the PCM out of hand.
Borrow another PCM (any '98-99 XJ or TJ one will do, plug it in, don't bother to try to start it, just do the same test again and see if it can see the TPS working. You'll have to ignore the SKIS errors it'll throw up, but it'll prove it isn't a weird wiring fault without the aggro of programming a new unit.