What is coming out is likely a font issue, or a postscript error (Error : Offending Command) is normally in the first page or 2 of the code printed.
A PCL driver would stop most of it.
In most applications handling pdf you have the Print as image option that would solve both above issues, but of course with a browser plugin that won't apply.
If possible, look into the application outputting the pdf, if it has the ability to use pdf/x (any of them, but pdf/x3 is most common) have that done, it is designed for print and solves most issues with composite overprint, tray calling and fonts while making no difference in file size or readability on digital.
Your best bet would be to find a document that is not considered confidential and call Xerox to have it tested. That won't be a quick process, Linux is really a rare call for Xeorx, so you will end up going through a few reps.
Thank you for using the Support Forum. Please turn on Print as Image. Follow these steps:
Printing the PDF file as an image may enable the file to print.
NOTE: It will take longer to print when printing a PDF file as an image.
If the problem continues please consider contacting your support centre for further assistance.