If it is Airplay compatible then you can connect the printer to your secure WiFi, and then add it with the Option key held down when adding the printer, as long as it is on the same secure WiFi as your computer.
If Canon has the printer on their support website as compatible Sequoia, Mac OS 15 (do not confuse for Catalina Mac OS 10.15), then you can install the drivers from the Canon driver website while hooked up via a USB printer cable to your Mac.
In both scenarios, make sure the printer is turned on before you attempt to connect the Mac.
If neither is available, open source drivers from Linux Printing, or Gimp or Gutenprint may support it.
Lastly, I found Canon Support by telephone is very helpful. I would ask them if there is a comparable print engine that Canon uses that installing a print driver for it will speak to the Canon. Only Canon would know the answer to that.