The printer should print and scan via AirPrint. It's a fault with Catalina.
I currently have a canon TS9150. It worked perfectly, both for scanning and printing using AirPrint under Mojave.
Now, having done a fresh install of Catalina, it will only print. Trying to scan via System Preferences / Printers & Scanners or using Image Capture results in a "Failed To Open A Connection To The Device (-21355) error.
Using VueScan and the IOS app results in the scanner performing as expected.
Therefore, there is an issue with Catalina internals and the built in scanning functionality.