As this is a recent, vaguely related thread I'll add on here. I'm having this issue with a MF642cdw on a Mac as well, same error. It was printing fine for a while, and now it won't. I made some changes to the configuration to disable AirPrint, and now I get this when trying to print.

Restoring AirPrint has not solved the issue. Uninstalling and reinstalling the printer has not solved the issue. The firmware is the latest version. Printer driver was re-downloaded and did not solve the issue. This is on Ventura 13.2.