[Solved] Unable to install Xerox Print Drivers Big Sur

I was having issues installing working print drivers for my old Xerox 6128-MFP; Xerox has abandoned the printer altogether, although mine works just fine. These instructions should also work for other older PCL printers.

I installed GutenPrint (Google it), and then was able to print to my printer using the "Generic PCL 6 Printer wide margin - Cups+Gutenprint" driver. Everything worked great and took just a few minutes.

Specifically, open System Preferences, click the "+", select your printer from the network, and in the "Use" drop-down menu choose "Select Software…" In the window that appears, type "PCL" into the filter and select an option appropriate for your printer.

I also use HandyPrint to make the printer usable via Airprint so I can print from iOS/iPadOS devices.

Best of luck, and enjoy!