With existing USB devices you don't usually need to go nearly this low level to reverse engineer them - just enumerating the endpoints and then using Wireshark

With existing USB devices you don't usually need to go nearly this low level to reverse engineer them - just enumerating the endpoints and then using Wireshark and USB packet capture is plenty sufficient. Understanding how the USB wire protocol works is definitely valuable knowledge in some arenas, but not at all important for the kind of reverse engineering task OP is trying to perform, as they can generally speaking trust the electrical layer is standard and only need to operate at a level above it. Same for the "write 3 bytes to a USB device" hypothetical from upthread - electrical understanding of USB is interesting but ultimately unimportant if you're using an existing USB stack - higher level knowledge of USB endpoint types and transport mechanisms is the name of the game there. If I were given this task and I had to produce a driver with source code (rather than just get things working), I'd start with a combination of USB sniffing and static decompilation (Ghidra/IDA) of the Canon binaries, followed by perhaps some dynamic analysis (logging shims) if things turned out very complex. If I just had to get things working, I'd just use one of the many approaches to mix 32/64-bit userland binaries in order to shim the 32 bit Canon binaries into a 64-bit CUPS driver.