Does the ntprint inf Cab file exist on the print server in rge expected PCC location.
I have a feeling the Canon driver is older and not Package Aware which is leading to the prompt.
Take a look at the inf file for the Canon driver. It's buried in one of the Cab files in the PCC directory as well.
Look for
PackageAware
And
Needs and includes
The C:\windows\inf\setupapi.dev.log from the client system should have some information that will be cryptic and most like helpful.
If the user is local Admin, configuring the Point and Print restrictions policy to not pop UI may work but something with the driver files is changing on the server so the new file needs to be copied to the clients.