If you get burned out trying to get Canon to explain why their supposed Catalina drivers do not install, you can proceed with the following…
Your networked Canon Pixma Pro-100 printer is supported by Apple's AirPrint without the need for any Canon printer drivers. Power on the networked printer now…
In System Preferences : Printers & Scanners, control-click on your Pro-100 entry in the Printers list, and choose Reset printing system… . After you enter your administrator password, that entry will be removed, and a new panel will appear indicating that Apple's Bonjour has discovered your printer. Click on that, and another panel will appear where you can select AirPrint from the Use: selector. Then click Add, and again right-click on the Pro-100 entry in Printers and set it as your default printer. Print something to test.