Download and extract Linux drivers that Xerox provides https://www.support.xerox.com/en-us/content/129620 The issue is that their driver is for 32-bit ARM (armhf) and is compiled in weird way.
# enable armhf support
sudo apt install libc6:armhf libstdc++6:armhf patchelf
# patch weird elf
patchelf --set-interpreter /lib/ld-linux-armhf.so.3 uld/arm/rastertospl
# install dep
sudo apt install libcups2t64:armhf libcupsimage2t64:armhf libcupsfilters1t64:armhf