I have a Canon MG6120 printer and it prints excellent color photos. One way to jump around the monitor calibration step is to download a test photo here : http://www.gballard.net/photoshop/pdi_download/ Do not alter these files as they are already calibrated. Any color mismatch with the print is due to the printer for the print software.
Here is some info on color management. https://www.xritephoto.com/color-management-guide