Perhaps with the new Google Drive software it may have changed with the Google Drive icon in the Sidebar, but regardless of that what I've found is that if I wish to share on my network any folders inside the Google Drive folder they have to be shared separately. At the top levels, Google Drive and My Drive, the Shared Folder box is not presented as you have observed, but below that level I have found on my system that Shared Folder box is presented.
When I put a tick in this box for any of these folders, those folders were accessible on another Mac on my network - at least in Monterey. I didn't test it with an older Mac.
Does this happen on your network and do any of these folders make themselves available to your printer?
This can also be done in System Preferences > Sharing > File Sharing > Shared Folders