Odd, Autodesk forum implies the UPITOKEN error is a file problem unrelated to print.
So if you already went through those, and assuming it happens on any file, not just the one you have been testing on, try using another driver, even another brand, to print to the Xerox, if it works, the driver is indeed the issue, unlike the other people with the error, but sadly, I don't have a fix since Xerox stopped making drivers 6 years ago.
I disabled the signature enforcement. And the driver installed fine. When printing from Autodesk Trueview 2017, I get these errors:
The machine is no longer developed for, I believe development stopped in 2011.
Windows 10 prints just as well as Windows 8 did with the Windows 7 drivers, in Anniversary edition you would need to Disable signature enforcement if the driver won't install properly.