set your printer up "the right way" so that it can be used by all devices on your Network.
to do this over Wi-Fi, the Printer needs to know three things:
1) what network-name is it supposed to join
2) what is the password to get on that network
3) how is it supposed to get an IP address (DHCP or manual at a specified address)
There are basically two ways to get these into the Printer:
a) fat-finger it in through the printer's "front panel"
b) connect using a USB cable first, tell it the stuff, then disconnect the cable
without all three of these, it can't join your home network, so it can't be 'discovered'.
MacOS has a great feature called Discovery protocol. It uses IPv6 set to "link-local only" to snoop around you local network and discover Printers, File sharing , and similar resources.
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In addition, the path of least resistance is to use the AirPrint Drivers. Again this is part of the cute trick of printing directly from your phone. The problem with that is you get NO Access to printer special features such as alternate paper sizes, two-sided printing, manual feed, and features you paid extra for.
Once the Printer is selected, your Mac will have a discussion with the printer about its capabilities, and may propose several choices of Drivers. BE PATIENT. You must take great care to select the full-featured driver intended for Network use, not the (Often default) AirPrint driver.