Lately it has worked much better on most devices to use SMTP.gmail.com on port 587 with STARTTLS.
Don't use port 465 (SSL) at all with Gmail, it is much better to use 587 (TLS) and specifically choose STARTTLS and not STARTTLS (If Available)
I don't know what printers you are talking about so I can't say if you will have those options though.
It is very unlikely Xerox will ever be able to implement 2FA on most current devices, possibly in upcoming ones with faster and more robust UI panels.