gHacks published a quick guide about fixing the missing USB Printer problem that sometimes happens on Windows 10 version 1903 and later.

USB Printer is missing on Windows 10 version 1903 and later (with workaround)

If you run a device with Windows 10 version 1903 or later, e.g. Windows 10 version 2004, and use an USB printer, you may notice that the printer is sometimes missing when you try to print.

USB Printer is missing on Windows 10 version 1903 and later (with workaround) - gHacks Tech News