Hello phlpeninsula,
I found this article with a few different things you can try to alleviate the jams issue with legal paper you are experiencing.
In my organisation there is a Xerox C8030 printer. I am able to take prints for A4 and A3 paper. But when I am trying to take print in legal paper the paper is getting stuck in printer. I tried giving print from printers left tray. But I am facing the same issue. Is there any additional setting I should do in the printer so that the page doesnt get stuck when I am giving the print or will I have to do a call log in Xerox for the above issue?