Canon Imageclass D570 driver rendered useless by Catalina

Canon lists drivers for Catalina:

Usual local preference is for printers with IPP/IPPS support, and/or AirPrint support, as those can avoid the need for vendor drivers. This printer supports both, so vendor-provided drivers should not be necessary for printing.

The driver on this page (available for download) says it supports 10.15 Catalina, does it not work for you?

https://www.usa.canon.com/internet/portal/us/home/support/details/printers/black-and-white-laser/imageclass-d570?tab=drivers_downloads

MtD

The two responders here have given you what should solve your problem. It would appear that Apple is indeed not the problem. Just a matter of either upgrading your printer's driver or using Air Print.