What do I need to install the specific HP PCL.6 driver for XP and Vista?

Ensure the product is turned on and connected to the computer, then access Printer Properties through Devices & Printers (or Printers & Faxes), click the Device Settings tab, and choose the appropriate options under Installable Options. (Page 7)

From the official HP Color Laserjet Enterprise M553 manual, page 7

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