Hi,
There are so many models, and it is difficult to know exactly how you want to use the printer. Generally speaking, have a look at the article About AirPrint - Apple Support. The models in the list use the driverless AirPrint technology. This means that they do not need special drivers if connected (wired or wirelessly) to a network. An AirPrint-enabled printer is supported by macOS (BigSur).
However, before you throw away the old printers, it may not be a bad idea to post make and models here. Someone could perhaps suggest a solution. If so, please indicate how the printers are connected.
Also, have you tried resetting the printing system and re-adding the printer?
Reset the Mac printing system to solve a problem - Apple Support
Add a printer on Mac - Apple Support