I experienced exactly the same problem on Ubuntu 20.04. I solved this
way:

1. First I stopped cups-browsed: systemctl stop cups-browsed
2. Then I manually added my printer (an HP OfficeJet 6950) clicking on the 
"Add.." button in the Preferences, and manually selected the name from the 
database, so it won't use any driverless print protocol. Did a test print and 
it worked.
3. I removed the automatically created printer 
4. Restarted cups-browsed: systemctl start cups-browsed

After that, the printer worked as expected and wasn't automatically
added any more, even after a system reboot.

The only minor issue is that for some reason I can't rename the printer
from the Preferences, but since it's my only I can live with it for now.

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https://bugs.launchpad.net/bugs/1855595

Title:
  CUPS fails to print to autodetected printers because of cups-browsed
  error

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