Perform an on demand overwrite. Go to this link. It will show you how to do it.
Solution : Perform an On Demand Overwrite
NOTE: The "Immediate Job Overwrite Failed" message occurs when a job is in the system and it cannot be automatically securely overwritten by Immediate Image Overwrite routine due to a power loss or unexpected system reboot, or from some other error that prevents overwrite of active jobs. Data may be left on the hard disk that was not securely erased.
After following the steps provided by acastro I was able to print. Then I went to: Properties > Date and Time and updated the time which takes some minutes to process and after that the message went away. Also maybe someone put some paper in tray 5 too https://www.support.xerox.com/en-us/article/en/x_wc58xx_en-O4945.