Hello,
the universal driver will work for most but not all printers. There are still a few such as the LaserJet 4250 that I still need to load the native drivers for. The default behavior of Citrix is to use a native driver if it is loaded on the server or available to extract in the windows CAB files but to use the universal as a fallback. You can configure citrix policies to enforce just the universal but you will probably have some issues and need to use the native ones. Your servers will typically be happier without loading all sorts of 3rd party drivers but ultimately the end user needs to print so unless you can mandate only certain printers you will probably want to leave the behavior the same as it is now.
So, with the devices that are still having issues, are they mapping with the universal or native drivers? If universal, find the exact driver name the end user is using and install a server version of that driver. It should now map instead of the universal and fix your issue. Be warned that every 3rd party driver you load is one more risk of instability to your spooler. If you load an old NT, Kernal Mode driver it may even blue screen your server.