Xerox stores have maintenance agreements with Xerox, you can call when you are onsite and speak to the 2nd level team, they can get it fixed.
There are no reported issues in the levels after that firmware (There are only 3, but I tested on 2 that were newer and did not have the issue), at least reported that I could find.
I don't have a Staples configured device with the tablet, we used to, but it was taken away to be used by another team :-(
I wish I did though, I thought the tablet was only an interface, As far as I know it should not change how scan happens, but since I can't replicate the issue it must in some way.
I just did a scan to USB, then immediately printed from the USB stick at the device and it printed fine, then opened it in Acrobat Reader DC and 8 and it printed fine using the Xerox Global Print driver PS and PCL versions, as well as the Native PS driver and the Microsoft Class Driver (For Windows 10)
All of them worked flawlessly.
Sorry I can't help, I wish I could replicate the issue, at least then I could have escalated the issue internally (That is not nearly as fast as doing it from a phone call, They take issues from customer locations much faster than those that originate internally)
I will keep digging when able and see if maybe they get stored in a mailbox/folder on the printer itself, if I could replicate that then I could probably break it in such a way as to replicate the whole issue.
Which is much more fun than doing the simple stuff.