Have you tried putting
AllowExpiredCerts Yes
into /etc/cups/client.conf ?
I had the same issue with Xerox WorkCentre 7220 and this did the trick.
The printer's TLS certificate expired:
openssl x509 -in /var/spool/cups/tmp/.cups/ssl/<printer.crt> -text
showed:
Not After : Aug 28 16:18:54 2021 GMT
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https://bugs.launchpad.net/bugs/1886653
Title:
cups-pki-expired
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