As an aside, simply don't use Airprint from a Mac unless you have to, it is meant to be convenient in remote places, it is not intended to be the main way you print.
Go to Xerox.com, download and install the driver, then install the printer manually via either LPD or HP Jet direct using the Xerox driver.
Printing from mac Catalina 10.15 via airprint produces multiple pages with a single line of gibberish. Updating to current drivers does not fix the problem. Firmware for printer shows SP 5.90 from 2014. Any solution?