Hi. What type of license was applied to your company account? It sounds like a device pack, which only gives a subset of the features. There is another license type called printer essentials that provides the full set of capabilities.
The Workplace cloud 5.7.3 manual says
By default, Auto Registration is disabled.
To enable the Auto Registration feature, do the following:
1. Log in as an administrator to Xerox® Workplace Cloud.
2. Select Account > Policies > Printer Authentication > Auto Registration.
However, when I am logged in as an admin, under Account\Policies, I don't have Printer Authentication. I have print controls; data retention, encryption, public printing, agent upgrades, access controls, rules, printer selection, offline mode, and client application. I don't see Auto Registration on either of these tabs.