Get a laser printer. They're much more reasonable for home use than they were in 1999.
I bought a Brother HL-L2370DW (there's a bunch in the HL-L23xx series, varying slightly in speed and price and availability) about two years ago for I think around $120, which is cheaper than the inkjet my family had in 1999 (not even accounting for inflation). It's about as tall as my hand and it fits nicely on an Expedit. I print about two pages every two months. Since it's a laser, the ink doesn't dry up. It also sits on the wifi and works out of the box with my (non-Linux) devices without any driver setup, so I imagine it will work great with CUPS driverless printing on Linux. The amortized cost of printing (drum/toner) is about 4 cents a page.
I think there's a bunch of other options in the space of ~$100 small laser printers, and I think there are reasonable color lasers in the ~$300 range (but I've found I need color printing once every few years, and it's cheaper to go to the local FedEx or something than either pay for a color laser or deal with an inkjet and its drying ink).
EDIT: I see a bunch of other comments are recommending Brother specifically! I picked them based on an old Wirecutter review (now at https://www.nytimes.com/wirecutter/reviews/best-home-printer... I think) because they specifically mentioned reliability for low usage, and I can attest it's been great at that.