At this destination, choosing macOS v15 instead of the incorrect default of 10.15, Canon does not offer an ICA driver for this multi-function device on macOS Sequoia. That suggests to me that they expect you to be fully invested in their software tools which is a huge dependency on your part.
I recommend that you configure the TS6420a as either a wired, or wireless network device and then set it up to use Apple's AirPrint which eliminates your Canon software dependency. It would also automatically give you access to Apple's previously mentioned scanning applications and printing functionality.
In System Settings > Printers & Scanners panel, locate Printers and if your TS6420a is listed there, right-click on it and choose Reset print system… If it is not shown, then just click the Add Printer, Scanner, or Fax… button. In either case you will end up on an Add Printer panel where Apple's Bonjour should automatically detect the networked TS6420a. Click that entry on the panel to select it and to activate the Use selection to automatically configure for AirPrint. Then click the Add button and you should have a fully functional TS6420a.
That Add panel looks like this for my Samsung laser that is configured with AirPrint:
