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iOS can't print with a driver (must use Airprint) and the 6500 doesn't support Airprint so you can't print to it from them.
There are 3rd parties that can run on your Mac's to enable it through them, but Xerox does not support or recommend any of them, so see here for more
As for DHCP not working, that would be an issue with the LAN connection to the ORBI router, You would need to either wire it with a Static IP, or find out from Linksys why it won't assign via DHCP on whichever LAN port you plugged into on the Router itself, or the Satellite.
It seems odd that it gets a hostname connection via IPP (Assumed since the Mac prints) but not an IP address, that would imply it is only able to connect on IPv6.