Enable or Disable File and Printer Sharing in Windows
Nov 29, 2016 Windows Network Printer Sharing Is Not Working With VPN Jun 14, 2019 Sharing files and printers on Windows 10 - windowscentral.com Jun 17, 2019 Sharing your VPN connection - ProPrivacy.com Mar 15, 2019
Turning on sharing prepares your PC for sharing files and devices on a network. For more info about sharing with other people on your network, see Share files and folders on a network or a shared PC. The network sharing setting is only available for Wi‑Fi, Ethernet, VPN (non-domain), and dial-up (non-domain) connections.
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What is Printer Sharing? - Definition from Techopedia
Create the VPN between the 2 locations (either lan-to-lan via the 2 routers, our a client VPN from the remote PC to the main office). If the printer is phy connected to the remote PC, install it on the remote PC and share it out from the remote PC as well (near the end of the printer install).