The short answer is that there is no well-functioning universal mechanism for computers to find printers easily. Your computer probably remembers the last IP address it used to talk with your printer. But, if that IP address changes, then your computer needs to find the printer again, and that doesn’t always work well. If your printer has a static IP address, then your computer already knows how to find the printer.
Note that you don’t actually have to set the static IP address in the printer — you can tell your router “always give this printer this IP address.”
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