Do you own your print environment? By this I mean, is the print server secure?
If yes, then allowing clients to connect and obtain the print driver would not really be much risk.
If you wish to retain the new default, then using Type 4 drivers which are available from Windows Update will provide the best user experience since the print driver will be delivered to the client system from Windows Update. No Type 4 drivers are ever copied from the print server.
For Type 3 drivers with a secure print server, you can set the GPO setting Computer \ Admin Templates\ Printers \ Limits print driver installation to Administrators to Disabled. This will add a registry on the client system HKEY_LOCAL_MACHINE\SOFTWARE\Policies\Microsoft\Windows NT\Printers\PointAndPrint\RestrictDriverInstallationToAdministrators with a value of 0
If you can set the clients so they can only connect to shares from your print server, modify either Computer \ Admin Templates\ Printers \ Point and Print Restrictions OR Computer \ Admin Templates\ Printers \ Package Point and print - Approved servers with your print server name(s)
This way they can't connect to a rouge print server with malicious print drivers.
If folks take computers home and connect to a shared printer from a Windows 10 system in their home network, they will get a message they are blocked by policy. Connecting to a network printer over WSD or Standard TCP/IP Port is not blocked.
Connections to shared printers and network printers. They sound the same but have always made the conversation confusing.
You can contact me if you want to discuss. Let me know and I can provide crumbs so we can set something up. I'm in Bellevue, WA. Pacific time zone.