Very unlikely. At least not without a fallback. Lots of corps will not allow encrypted dns because they want good traffic monitoring for threat detection. It may be an option, but it almost certainly won't be enforced.

A plain UDP fallback won't help you if the printer can get to it servers without needing it in your home network. DNS-level filtering is pointless for devices you don't control.

For malicious devices, sure. But a printer will do the basics and just use dns. There's no upside more important than a risk of whole bunch of devices just not being able to work. There's really no clever and sneaky functionality there.

Maybe the "Enterprise-grade" printer that costs twice as much and doesn't do the annoying things. Like how Enterprise versions of Windows let you disable certain stuff.