You don’t have to install drivers or CUPS on client devices. Linux and Android support IPP out of the box. Just make sure your CUPS on the server is multicasting to the LAN.
You may need to install Avahi on the server if it’s not already (that’s what does the actual multicasting). The printer(s) should then auto magically appear in the print dialogs on apps on Linux clients and in the printer service on Android.
On Linux it may take a few seconds to appear after you turn it on and may not appear when it’s off. On Android it shows up anyways as long as the CUPS server is on.
How do you avoid interaction if it’s being done automatically by your machine when you open up a print dialog, and if malicious servers can use the same names as legit printers?