In 'Gone With The Winchester' James plays an old school friend of Arthur's, Toby 'Jug' Johnson, who has just been released from prison. Although on the face of it, Toby is also a likeable rogue, he turns out to have a more sinister side to him. I've attached a couple of screen shots from this episode. As usual, he was excellent. Without doubt, one of my favourite characters from the entire series.
Toby is sitting in a barber's chair with a cup of whiskey, waiting to get his hair cut. The barber (seen in the background) is an old friend of Toby's.
Just after his haircut, Toby meets up with all of his old mates at The Winchester Club, Arthur Daley's favourite place to drink.
The next two screen shots come from the same reunion scene and one shows James hugging "Dave," a regular character from Minder. Dave was played by Glynn Edwards, who as I'm sure you know was in Zulu with James.
Hope this is of interest to you.