Assuming Xerox Driver 5.3.0 or higher, try adding it as an HP Jet direct or LPD printer instead of just clicking on it from the list.
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My office just got Altalink B8057. I downloaded a fresh copy of the software, installed it, and added a new copier on my Mac running on Catalina (10.15.1). After hitting "Add" button, the pop-up message saying "Uable to verify the printer on your network". After a few attempts, this message does not appear and it looks like the copier is added to the printer menu. But when I send a print job, it is not processed. Once in a while, after a few hours, my print job completes but it is not registered in the "complete job" list. All the others in our department using the copier can print from their computer (both Mac and PC), mine does not. Any help is appreciate it.