To anyone who has this problem,
Matt Fillpot walked me through this. It's not difficult if you know what you're doing (which I didn't). Download the linux driver from Xerox. Then you need to go into <terminal> and change directories to where the 'install.sh' file is stored. Then 'sudo sh install.sh' Then an installer program opens and walks you through everything. The printer works great! It appears the Xerox download possibly puts and extra 'media' folder in. So, watch and make sure you get all the folder correctly.