If you have a VPN App or profiles installed, or a security/AV/firewall App such as Norton, these may be interfering with your iPad's network stack - sometimes impacting AirPrint/AirDrop and related services - even if the VPN connection is seemingly turned off.
If applicable, the resolution is usually simple; you may need to remove the Security App and/or VPN from the device - and then perform a forced restart. You might also try a reset of your iPad's network settings:
Settings > General > Transfer or Reset iPad > Reset > Reset Network Settings
If this resolves your issue, the VPN and/or security App can be reinstated after the connectivity problem has been resolved. You might also verify if you are using the Private Address feature - intended to provide additional privacy and security when using “public” (untrusted) WiFi networks. Using Private MAC Addresses can interfere with anticipated operation of some device services, such as AirPrint/AirDrop. In such circumstances, you may need to disable the Private Address feature for your home WiFi network.
Use a private network address on iPad - Apple Support
