I think I found the problem. The wiring diagrams that I've been using for the AW4 are from a 94 FSM. The TCU I have is from a 1990 2.5L XJ.
I posted on NAXJA, and someone had a 90 FSM online. Looking at the wiring diagrams, it appears that the TPS signal on a 1990 (Renix) is backwards from the signal on a 94. The 90 TPS has 2 connectors, one which sends 0-5 to the ECU and one that sends 5-0 to the TCU.
The way I have it wired, the TCU is expecting to see 5-0 volts and it's seeing 0-5 volts.
Easy enough to reverse it and find out I guess.