No problems here
I've been using Mint for years (currently 18.3; wife on 19.1). Never had the slightest issue with our HP multi-function printer (OfficeJet Pro 8600 Plus). Works perfectly and was trivial to configure for Linux (automatically found, recognised, boom, working).
This is simply not an issue for most printers. What IS an issue is that my printer only supports SMB1 protocol which means I can't scan to my NAS unless I configure it to use SMB1 instead of a more secure (later) version of that protocol. However, I'm disinclined to discard a printer (and expensive set of ink cartridges incl replacements) on the off chance of getting hammered by an SMB1 based exploit. Fortunately we have no Windows machines in use.