The global driver does not support the printer fully so it won't find it.
The Windows XP driver will very much work in Windows 7, and 8 and in some cases 10 with slight modification to the OS (To allow for an unsigned driver), but the real issue is there is no 64 bit driver at all, and almost any computer from the last few years is 64bit.
In that case you would need to use the Xerox Global driver, and do so with a manual install.(Don't pick the "Install From Web" option, I would suggest the PCL5 download and install")
That will put the Files in c:\Xerox\X-GPD_5.433.6.0_PCL_32_Driver.inf\ (or X-GPD_5.433.6.0_PCL_64_Driver.inf)
Then when you install it just choose the driver manually from there and it should work.
This is all theoretical mind you, I don't have access to any printer that comes even close to that generation and do not have access to a computer that is capable of having a Parallel cable