Hello bjhowd,
I see no one has responded to this post yet. So, at this point I would recommend contacting your local Xerox Support Department to speak with a Product Specialist for more assistance. Please call 1-800-821-2797 or 1-800-835-6100.
I just purchased a refurbed Xerox Phaser 6022 that when printing to it using the TCP/IP printer protocol and LPD- Line Printer Daemon. It keeps giving me the error that printer driver was not installed correctly. It attempts to do a repair of permissions, but nothing changes. MAC OS - Catalina or Mojave are both compatible according to Xerox Compatiblity list. Seems to only work/connect now as an AirPrint printer using Bonjour protocol. Why does it complain about printer driver not installed correctly when I installed it using the .dmg file image? This also happens in Mac OS Mojave as well as Catalina. I am using the latest print driver dated 01/23/2020 which is version 1.148. Very odd. Thanks for any clues or assistance.