Can't print - 'Backend' failed

Using a MBP running Catalina 10.15.6 I am unable to print to a networked Xerox printer. It discovers it just fine with Bonjour, connects, but when I print anything, it instantly pauses the printer, and in the printer job list dialog, it fails saying Ready to Print - 'Backend' failed, 2 pages. I've tried re-adding the printer, Reset the printing system with the right-click in the printer list, rebooting the machine. I have an old iMac also running 10.15.6 which can print to it, so I know the printer works. Any other ideas?