


a rebadged Konica Minolta (branded Ineo) at my workplace automatically appeared on a PC via CUPS when I installed Linux Mint - didn't need to install any drivers, it was just there and printed straight out of the box (including a complex PDF document in German with many graphics)
Linux made a lot of hardware (including printer) just work with ProjectUtopia around 20 years ago. My experience is that after that hardware either didn't work at all, or just worked. And now most things are just working.
And for printers, the key seems to be to avoid HP. After switching to a Brother Laser printer, I almost have forgotten that printing used to be a struggle.