I ended up finding the solution to my original issue: /etc/qubes-rpc/policy/qubes.Print with the classic content: vm1 vm2 ask (change it to allow to avoid continuous prompts, it should be fairly safe since only two specific vms are allowed).
However, while my print qubes is connected to the printer and is in fact able to print, my other qubes request to connect to my print qube but nothing happens. The only option available in my writing qube is Print to file.
I followed every step mentioned in the guide linked in the OP. What am I missing?
ā UPDATE ā
Solved it by making the script executable with: chmod +x /etc/qubes-rpc/qubes.Print
TIP: make it a dvm template and move the script to /rw/usrlocal/etc/qubes-rpc for extra safety.