@nollipfsense that's almost what I was doing anyway, but then that again gets the printer on a different subnet from the PC, which puts the barrier between the UDP communication, which would make the printer not function.
That said, I think I may have figured out that the Canon driver potentially is only using UDP broadcast to initially find the printer if it's IP address is changed or it's a new installation. So, if I assign the printer a static IP on its network, and I temporarily move devices that need to print to it to the same network just for the driver install, then I can move the devices back to other subnets on the overall network and maintain functionality.
I'll have to test this through a few reboots and several days to confirm it does indeed work, that would suffice for now. I may eventually try to figure out which UDP ports I need to relay to get the Canon drivers to work without having to move devices around between the networks, if it becomes more problematic and this workaround doesn't hold.