To solve the problem, please copy over the driver package and install it manually on the client computer before attaching the printer.
For instructions about installing the driver package and attaching the printer please see the following page:
Other possible solution that can be tried is to set the RestrictDriverInstallationToAdministrators registry key to 0, but please note that setting the RestrictDriverInstallationToAdministrators key to 0 also needs administrative privilege and makes the system vulnerable to the CVE-2021-34481 security vulnerability.
In the following registry key:
HKEY_LOCAL_MACHINE\Software\Policies\Microsoft\Windows NT\Printers\PointAndPrint\
Create a new DWORD value named RestrictDriverInstallationToAdministrators and set it to 0.
Also, it is not possible to set the RestrictDriverInstallationToAdministrators registry key if the following Group Policy is enabled:
Computer Configuration > Administrative Templates > Printers > Limits print driver installation to Administrators
For more information, please see the following Microsoft article: