It’s not better. It’s a trade off.
If you use static addresses, you have to manage their allocation and that is overhead. If you change your network, you have more devices to manually reconfigure.
If you use dynamic addresses, you have to wait for the dhcp server (and switches) to come up before the printers can get their address.
It is unlikely that the time it takes for the dhcp server to come up is the limiting factor when you are recovering from a power outage. Also, the dhcp server (and switches) is likely to have a UPS.
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