Hello MRray,
I searched out Compatibility Document it states there are no drivers for Catalina for this device.
You may still be able to add the printer on macOS using the built-in “Generic Postscript PPD”.
If Xerox driver features are really needed, you could try an unsupported work-around in which you install the Xerox macOS Common Print Driver from a closely related product which is supported on Catalina. Note that there may be incompatibilities that could cause not all feature/function to work properly.
And lastly, if a specific scan driver or a print driver is not available AirPrint and Scan to Email may be used as a workaround.