After some frustrating moments, I found out that failing to print from MacOS/iOS/iPadOS on my HP printer was due to the fact that it only works when the printer is connected over wifi to the main pod. Only then did the printer get an IP address of 192.168.... and AirPrint works, regardless to what satellite the Mac or iPhone or iPad is connected. Using the Deco app, navigate to the printer in the list of offline devices, go in Connection Preference and there select the main pod. Wait for the printer to re-connect (happens automatically) and you'll see that it now appears in the list of online devices.

Once the printer is in the online list, you can now also reserve the received ip address for this printer. Go to the More tab at bottom of the app, go to Advanced and then Address Reservation and add the printer.

I hope this concludes my frustrations... :-)