Zebra printer driver for PC is provided in the software packages of Zebra Designer and Zebra Printer Setup Utilities for PC. The driver is automatically installed when you install the software packages. With the driver installed on PC, you can connect any Zebra printer models to the PC and then print out labels from the PC. Though we don't label the driver as "universal", it seems what you are referring to. Hope this helps.
EDIT: You can also get the drivers directly from the printer support pages. The driver package that is installed is a package for almost all the Zebra ZPL printers including the ZD410 and ZQ610. ZD410 Desktop Printer Support & Downloads | Zebra