Xerox just removed all the Linux drivers first for the majority of older models (even actual ones, which you can still buy), Windows and macOS drivers second for selected models (yet).
Canon, Pantum, Brother, Kyocera, HP, they all still produce new devices on older hardware base, which require driver and does not support AirPrint/Mopria even over USB. They just don't care, they reuse what they wrote 20 years ago and ship it. Xerox and HP use Samsung printing engine and drivers, Pantum uses Lexmark.
https://discussion.fedoraproject.org/t/xerox-removed-linux-d...
https://forum.support.xerox.com/community?id=community_quest...
Canon, Pantum, Brother, Kyocera, HP, they all still produce new devices on older hardware base, which require driver and does not support AirPrint/Mopria even over USB. They just don't care, they reuse what they wrote 20 years ago and ship it. Xerox and HP use Samsung printing engine and drivers, Pantum uses Lexmark.