What home printer is compatible with Catalina? My Epson doesn't work.

Any one of the devices in this list will work: About AirPrint - Apple Support.

I have been specifying Brother printers exclusively for a long time. No complaints.

Preferably with AirPrint and/or IPP/IPPS printing capabilities.

Both AirPrint and IPP/IPPS remove the need for vendor-provided drivers for common functions.

Scanners and multi-function will need support for TWAIN, as that avoids the need for vendor drivers.

Whatever printer you’re considering, look not just at the purchase price, but also absolutely at the consumables costs.

Brother printers here too, as well. Preferably the network-connected, and “departmental” grade models.