Depends on the printer. I've usually been able to just plug-and-go for
Epson / HP ones but have also needed to resort to getting a driver for
Canon / Brother / Dell. Whatever gets the job done

BTW - recently set up a Brother multi-function and there was a lot of
help on the Brother site for installing in all manner of Linux but it
did need some command line work to get the scanner working - again all
documented on the Brother site. Nice to see a manufacturer really get
behind Linux like this