Look, I don't want to derail this thread or get into an argument. I actually don't disagree about the practical risks as we know them today. What I do disagree with is whether or not to be proactive or reactive. Is there a GOOD reason to NOT limit IOT devices to the Guest network? It's not difficult. It's not an encumbrance. It doesn't compromise the ability to use said devices. It's considered best practice by basically every security professional out there. That's my stance. Reasonable proactive measures beat reactive ones. Every. Single. Time. It's why I have never... ever... say, installed an app from 3rd party update sites as an example. There are many people who shrugged off the "just crying wolf" alarmists about the potential risks of acquiring from said sites, only to regret it later.
Having IoT devices in a separate network from your iDevices, Macs, whatever means that to control, monitor, adjust them you have to log OUT of your own network and INTO the Guest network. I use Homekit, which uses my AppleTV as the controller for automations. So, I need my AppleTV in the network with the IoT devices to run the automations. I also use the IoT devices several times each day as lighting conditions change by turning on/off lights in various parts of my home. I also want my iPhone in the AppleTV network to stream from my iDevice to the AppleTV.
Having IoT in a separate network DOES compromise the use of the IoT devices, at least in some, perhaps many, cases. When I hear a noise in my house during the night and want to look at a camera on my phone before I go downstairs to see what it was, I don't want to have to log out of my network, log into another one to get the images. I also don't want to stand in the rain, changing networks, to open a smart door lock, if I get one. And I don't want to pay for and carry a second phone just to be connected to the Guest network for my IoT stuff. So, all in one network, with a strong password on the entire network because it works for me. The router has a strong firewall on it, which I test periodically with the tools at
GRC | Gibson Research Corporation Home Page. The "ShieldsUp!" will test and report on any vulnerabilities for you
As for "security professionals" and their opinions, consider that if you REALLY want to be secure, you don't have any smart devices at all. Security professionals are rightfully totally focused on security, but if you do everything they recommend, you end up in in a cabin in the woods with no electricity or phone. Real people live in a real world and accept some risk every day. The key is to evaluate the risk and make whatever decision suits your risk aversion. So, if it bothers you, don't do it. It's (at least right now) a free country. All I was trying to do was make the OP's printer work, which will, if he simplifies his network. And if, like you, he doesn't want his IoT in the same network with his printer and other things, he can still do that, too.