Please solve the programming task below using a self-contained code snippet in a markdown code block.

You are given a binary string s, and a 2D integer array queries where queries[i] = [firsti, secondi].
For the ith query, find the shortest substring of s whose decimal value, val, yields secondi when bitwise XORed with firsti. In other words, val ^ firsti == secondi.
The answer to the ith query is the endpoints (0-indexed) of the substring [lefti, righti] or [-1, -1] if no such substring exists. If there are multiple answers, choose the one with the minimum lefti.
Return an array ans where ans[i] = [lefti, righti] is the answer to the ith query.
A substring is a contiguous non-empty sequence of characters within a string.
 
Please complete the following python code precisely:
```python
class Solution:
    def substringXorQueries(self, s: str, queries: List[List[int]]) -> List[List[int]]:
```