The printer works fine with firewalld stopped, but gets blocked when enabled:
erlangen:~ # LANG=C lpstat -t
scheduler is running
system default destination: Brother_MFC-255CW
device for Brother_MFC-255CW: dnssd://Brother%20MFC-255CW._pdl-datastream._tcp.local/
Brother_MFC-255CW accepting requests since Mon Nov 11 19:51:08 2019
printer Brother_MFC-255CW now printing Brother_MFC-255CW-12. enabled since Mon Nov 11 19:51:08 2019
Der Drucker kann nicht lokalisiert werden
Brother_MFC-255CW-12 karl 1024 Mon Nov 11 19:26:27 2019
erlangen:~ #
Yes,
When setting up a network printer, you have to determine the protocol used (There are several possibilities) for that printer and open up the required ports
You can look up the ports you describe in any IANA assigned ports table and determine that the ports you have open now are for NetBIOS (typically Windows/CIFS shares), SNMP (? possible but in a tiny network not that common) and a port above 1024 which can be anything but unlikely for a standard protocol like what your printer would use.