I had the same problem with a Dell 2350dn (which I believe is a rebadged Lexmark, but that's irrelevant).
You need to be Admin, but go into /Library/Printers/Maker where Maker is Dell or whoever.
Then into filter and there's a bunch of files that will be used by the CUPS subsystem.
Then used the xattrib thing to make sure they're all runnable by the OS.
Also (in Dell's case at least) there's a bunch of Perl executables and at the top of every file is #!/usr/bin/perl
Well on my Big Sur install there are 3 versions of Perl (perl5.18, perl5.28 and perl5.30 and perl is linked to perl5.28). The script makes a call USE POSIX and that's been depreciated.
So edit the files and instead of #!/usr/bin/perl replace with #!/usr/bin/perl5.18
and bam the files will run again and the filter failed should not occur.
Steve