Hi,
Even a wired (Ethernet) connection to a network is in fact allowed for AirPrint. The requirement is that the printer and the computer are connected to the same network (subnet). This can be done by connecting the printer to one of the LAN ports of a (Wi-Fi) router. The computer could be wirelessly connected to the same router, or by Ethernet.
An AirPrint-enabled printer is compatible with macOS (Monterey). Drivers from the printer manufacturer should not be needed.
About AirPrint - Apple Support
Reset the printing system on your Mac to solve a problem – Apple Support (UK)
Add a printer to your printer list so you can use it on Mac – Apple Support (UK)
By the way, Xerox has a white paper Enabling Apple® AirPrint®with Your Xerox®AltaLink®Multifunction Printer, which also provides general technical information about how AirPrint works, including details about Bonjour/mDNS.
https://www.office.xerox.com/latest/XOGWP-18U.PDF