You can find them as part of the driver package, unpack using something like 7zip and you'll find them, or you may find them in your drivers folder if you have that driver installed. I don;t know the driver you have but assuming they all have similar structure, I found the dtd in the driver package for the nuvera using this path:
As I said, open the driver package exe using something like 7zip, look through the cabs until you find it.
Yes it will be very helpful in writing your xpif since xerox are so protective over the specs for it!
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Some printer driver insert a job ticket in the postscript file send to the printer. The ticket is in XPIF format and in the ticket, it show the name of DTD file. I.e. xpif-v02073.dtd. Is there a way that we can get a copy of this dtd file?