There's hundreds of printers/multi-function devices that work with CUPs. There's no reasonable way every one of them can be supported OOTB on a router.
Spin up a VM with a Linux like Ubuntu. Use 'USB passthrough'. Learn CUPs configuration & setup via the CLI. Then adapt those steps to your routers that you're looking to augment with printer server duties... or just buy a dedicated network print server device.
