I don't know the answer to this, but I searched the user documentation and it says that you can connect to your printer from a Wi-Fi mobile device, such as a tablet, computer, or smart phone, using Wi-Fi Direct. If doesn't mention that you need drivers, so I would start by enabling it and then try to see if you can print without the driver.
Thanks, CathyO-Xerox Community Manager
Be sure to click Kudos for those who have helped you. Select Accept as Solution for posts that have helped to solve your issue(s)!