Ryan,
If you use the HP RTL driver (not the HP Universal driver) it may work with printers that support HP RTL. For instance, some Oce printers that support HP RTL have been tested and work with the HP RTL driver. So perhaps your statement about Xerox printers reflects this.
But just like any other RIP software, ArcPress is developed for specific models, because it replaces the rasterization that normally occurs in the printer. In fact, third-party RIP software vendors spend a lot of time optimizing and tuning their software for the printers they support, for the best quality and performance. That is the value that they add, and the reason people might buy these products versus just printing straight to the printer or using ArcPress.
A side note: If you have specific Xerox models which have worked well with ArcPress and the HP RTL driver, it would be useful for others here on the forums to let us know which ones worked well for you. thanks!