My family has an HP printer. My father uses Windows, and has had to install an HP app to scan documents. My Mac, on the other hand, can connect, print, and through the built-in "Printers & Scanners" panel in System Settings, or through the Print Center app.

I think this is probably a solved problem. Windows would have to support whatever API Macs use.

Provide drivers using the old model and a set of instructions to enable that.

Edit: I guess instructions won't even be necessary, as far as I've understood, there will just be a warning. And users are already trained to just ignore those.