I have the same problem. The printer works fine with iOS but NO WAY to get it working with Android devices.
I made several tries with the Xerox Plugin (impossible to detect the device, nor automatically, neither giving the correct IP address), with the Samsung Plugin (impossible to connect to the device) anche with the Mopria plugin (impossibile to connect to the device).
I also have troubles printing from Windows 10 64bit (i have to reboot the printer after every work).
I guess this will be my first and my last Xerox device.