It depends on what printer driver you are using. Also, the printer drivers that comes with must Linux distributions are being ported to printer apps, so if you are using any gutenprint or foomatic printer drivers it should work for your printer.
The printer app are available for testing as snap packages.
Note that at present cups still works with the vendor printer drivers. The only hiccup I have seen so far was with a package named ipp-usb that broke connections via usb to printers using the vendor drivers. Since most printers today are wireless connected that did not directly affect my setup with the HP printers.
Also note that AFAIK the only way to use the scanner in an HP MFP printer is with hplip and the HP provided plugin that accesses the scanner. Make your decisions based on your needs, and realize that warning is about the plans for what is ahead, not what is happening today.
With ipp-usb you can access the printer as if it were an IPP-Everywhere printer or an Air-printer. By mistake, the ipp-usb package was at some point pulled in as a dependency, but that mistake is now fixed.