why bother with tls, stick it on a separate vlan, lock down all the traffic
As for putting it on a separate VLAN and securing traffic with firewall rules, that may be as much or more trouble than setting up the automated certificate renewal. At least with the automated certificates there may not be any further maintenance required. With firewall rules, you'll need to open up the firewall each time you want a new device to access the printer.
Sticking it on a VLAN only controls access, not data secrecy.