Hi,
The Canon PRO-10 is listed in About AirPrint - Apple Support as a model supporting the driverless AirPrint technology, and can be used without additional apps/software/drivers, provided that it is connected to the same network (Wi-Fi router) as an iPad, an iPhone, or a macOS computer. An AirPrint-enabled printer is compatible with macOS (11 Big Sur).
https://downloads.canon.com/nw/printer/products/printers-and-multifunction/pixma-pro-series/pixma-pro-10/spec-sheets/PRO-10_LSS.pdf
How is your printer connected? If via USB, printer drivers are needed. You may want to try AirPrint (via Wi-Fi or Ethernet) instead. You may have to reset the printing system (link below) between tests.
AirPrint works with wireless (Wi-Fi) or wired (Ethernet) network connections. The Canon PIXMA PRO-10 could be connected wirelessly to the Wi-Fi router, or by Ethernet cable to one of the LAN ports. A Mac can use AirPrint when connected wirelessly or by Ethernet to the router.
If there is a device/computer discovery problem when using AirPrint, you could perhaps try a full procedure like this (in the order described, including the waiting times):
Power off the Wi-Fi router, the Canon printer, the Mac, and all other devices/computers. Wait two to three minutes. Power on the router. Wait two to three minutes. Power on the Canon printer. Wait a minute or two. Power on the Mac. Finally, power on all other devices/computers.
Add a printer to your printer list so you can use it on Mac – Apple Support (UK)
Reset the printing system on your Mac to solve a problem – Apple Support (UK)
Use AirPrint to print from your iPhone, iPad, or iPod touch - Apple Support
https://www.usa.canon.com/support/p/pixma-pro-10