You can use any printer driver that you want provided that the driver is compatible with the OS (x32 vs x64).
Since you are using an Enterprise grade CLJ I would suggest pursuing a Universal Print Driver for your XP machine. There are 3 flavors to the UPD so play around a little until you find one you like. UPD PostScript generally has the least amount of errors in my experience. You can find the most current UPD PS by searching on http://support.hp.com .
Otherwise you can use any printer driver that you want from any other printer model. The limitations hit when you want to use functionality that is specific to your printer but does not exist on the print driver. The opposite is also true where a print driver supports featrues that are not currently on the printer.