Hello dstranathan,
I searched the knowledgebase and found this article for direct printing issues with PDFs that may help you.
I'm trying to configure a Phaser 7500 to print via AirPrint and/or IPP from macOS 10.15 Big Sur.
I can create an IPP queue locally on the Mac with no issues, but the print jobs result in a Xerox-branded warning printout stating "This printer is not configured to support direct PDF printing."
Network Path = http://<hostname or IP>/ipp
Page Description Language = Auto
Filtering = None
System Version = 1.3.8.P
Operating System(OS) = 9.73