If you open a close the tray. Can you validate that printer is programmed as plain white letter. Not plain blue letter or something else.
If it is, the only thing I think we can do is a factory reset.
This happens mostly with the wrong print driver in use, or when an application overrides the driver.
So make sure it is the right print drivers, you can update them here, and make sure that the Application is not set to an odd size.
The following screenshot is an example of this, with Choose Paper source by pdf page size enabled it will force the printer to print to a paper that equals the document size, often the document size will show an impossible number like 8.5*11.01, and since the .01 is impossible, it will fault the job. My document in the screenshot is a more extreme example though.
It means there is an incorrect parameter in the paper size. This happens mostly with the wrong print driver in use, or when an application overrides the driver. So make sure it is the right print driver, and make sure that the Application is not set to an odd size.
You need to change paper size in driver on pc side. Automatically select means the print driver takes the paper dimensions from page setup inside (Adobe/MS Word/Excel) and gives to the printer, if the printer has that paper it prints, if it doesn't it tosses that code.
Are you printing from phone or chromebook or windows or mac?
Did you install the xerox driver or use the OS to install the printer for you?