Change the printer brand. I have a Brother laser printer and once configured the wifi on it, it is zero config. All my computers (linux, mac, windows) detect it over the network. I can also print from my android device.
Brother laser printers are life-changing. Set it and forget it, it just works, apparently forever.
Agree on Brother. I bought an inkjet Brother, not even a laser, and it's been working great so far.
I've bought an OKI color laser print/scan/copy combo after we last moved some four years ago. Best thing ever in general and I never had any connection problems. But yeah, the mere fact that you have to be choosing your hardware wisely is precisely the problem here.
I'm at the point that I am about to install a dedicated service that people in my house can just forward a document to via email and it will be printed. Then I have one place to troubleshoot instead of multiple PCs and phones.