I have installed the latest drivers from www.xerox.com/drivers site.
When I try to scan a color image using flatbed scanner in Preview application it is able to scan an overview image, but not the actual scan - it just shows an error message saying "Scanner returned an error" and nothing more. I'm scanning over WiFi.
So I tried to debug a little bit and in Console it shows this error:
Xerox: CGImageCreate: invalid image bits/component: 8 bits/pixel 24 alpha info = kCGImageAlphaNoneSkipLast
After this theres the same error message of Preview.app.
By the way, this has been happening since macOS Mojave. And so on one of my Macs that's running the latest OS it's unusable, but it works on another Mac that's running macOS High Sierra.