I bought a late 2018 Macbook Air with Mojave installed. And I have the same problem.
I did go to Canon's site, and looked up the latest driver for the MP560 relevant to Mojave version, before I printed anything. It's not available. I did more googling and read some Apple support pages that Apple has moved to the AirPrint driver model for recent OS versions and for latest printer models. It also mentioned that for older printers, Apple will install the driver itself, not Canon.
So I initiated printing with a pdf document, and had the Print dialog box search for my networked MP560, which MB Air found through BonJour protocol. Then it ask me if I want to install Apple supplied printer driver. So I did. Actually the printer discovery and driver download from Apple worked seamlessly.
But unfortunately the Apple downloaded driver does not support duplex printing. The Canon downloaded driver installed in my previous 2011 13" MBPro running El Capitan supports duplex printing. So I know it's possible.