If @Ronasara's suggestion doesn't work, then you can try to see if there is a CUPS driver for the printer. There may not be an exact match so you may need to select the printer series or try a somewhat similar printer or just a basic generic driver. To access the CUPS administration interface you need to type the following URL into a web browser:
localhost:631/admin
If you see a warning that the "Web interface is disabled", then you will need to execute the following command within the Terminal app (make sure to press the "Return" key at the end of the line to actually execute the command):
cupsctl WebInterface=yes
Then reload the URL again.
https://www.macworld.com/article/223685/three-printer-management-tricks.html#cups
I tried to locate some instructions to provide an example, but I'm unable to find an example that doesn't add in unnecessary & confusing bits. Once the "localhost:631/admin" page loads in the browser you will need to click on "Add Printer" or "Find New Printers" and follow the steps. Adding a USB printer should be easy. If you are adding a networked printer, then you will need to provide an IP address or DNS name if the printer is not automatically discovered (you may need to experiment to determine which protocol to select).
