Refer to the section headed Add a network printer by its IP Address at https://support.apple.com/guide/mac-help/add-a-printer-mh14004/mac

The address field should include the fully qualified domain name of the printer. For example printer.andrew.local.cmu.edu
Set the Protocol type to Line Printer Daemon - LPD
If the Apple printer installation utility does not suggest a printer model select the Apple Generic Postscript Driver.

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