For those of you that didn’t resolve your problem after following the Most Helpful Answer above (turning on IPV6 on your printer): Disable IPV6 on your router. Did the trick for me. Instantly. Didn’t have to reboot my printer or any network devices that print to it - the printer simply popped up instantly.
Printer: Brother MFC-L3750CDW w/ Main Firmware Version Q; Sub1 Firmware Version 1.59
Router: ARRIS BGW210-700 w/ Firmware v2.7.7