I'm having this problem too. It often starts when I'm in the university network. In my case, the cups-browsed takes 100% CPU. I'm running Ubuntu 23.10 and cups-browsed 2.0.0-0ubuntu2. If I can add anything usefull, please let me know, I have the issue about 1-2 times per week.

Here is my output of:
    avahi-browse -rt _ipps._tcp
    avahi-browse -rt _ipp._tcp


➜  ~ avahi-browse -rt _ipps._tcp
+ wlp0s20f3 IPv4 HP Fax 4 @ st-xps-9550                        Secure Internet Printer local
+ wlp0s20f3 IPv4 HP OfficeJet Pro 8720 @ st-xps-9550           Secure Internet Printer local
+ wlp0s20f3 IPv4 HP Officejet 6500 E710n-z @ st-xps-9550       Secure Internet Printer local
+ wlp0s20f3 IPv4 Lexmark CS725 @ diracium                      Secure Internet Printer local
+ wlp0s20f3 IPv4 Brother MFC-L2710DW series @ MacBook Pro von Laura (2) Secure Internet Printer local
+ wlp0s20f3 IPv4 EPSON ET-2710 Series @ st-xps-9550            Secure Internet Printer local
+ wlp0s20f3 IPv4 EPSON WF-2830 Series @ Lisa___s MacBook Air (2) Secure Internet Printer local
+ wlp0s20f3 IPv4 Lexmark543 @ Kunstpaedagogiks MacBook Pro     Secure Internet Printer local
+ wlp0s20f3 IPv4 Brother DCP-9022CDW @ MacBook Air von Amarela Secure Internet Printer local
+ wlp0s20f3 IPv4 HP Officejet 5740 series @ Sophias MacBook Pro (2) Secure Internet Printer local
+ wlp0s20f3 IPv4 EPSON XP-710 Series @ Karlottas MacBook Air   Secure Internet Printer local
= wlp0s20f3 IPv4 HP Fax 4 @ st-xps-9550                        Secure Internet Printer local
   hostname = [st-xps-9550.local]
   address = [172.21.67.94]
   port = [631]
   txt = ["printer-type=0x100E" "Color=T" "mopria-certified=1.3" "URF=V1.4,CP1,W8,PQ4,SRGB24,RS300,FN3" "TLS=1.2" "UUID=cb1415ea-c4a0-337d-41c8-62950cc7ba06" "pdl=application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster,image/urf" "product=(HP Fax4)" "priority=0" "note=st-xps-9550" "adminurl=https://st-xps-9550.local.:631/printers/Officejet-6500-E710n-z-Fax-4" "ty=HP Fax4 hpcups" "rp=printers/Officejet-6500-E710n-z-Fax-4" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 HP OfficeJet Pro 8720 @ st-xps-9550           Secure Internet Printer local
   hostname = [st-xps-9550.local]
   address = [172.21.67.94]
   port = [631]
   txt = ["printer-type=0x901E" "Duplex=T" "Color=T" "mopria-certified=1.3" "URF=V1.4,CP1,W8,PQ3-4-5,SRGB24,RS300,DM1,FN3" "TLS=1.2" "UUID=9a4dee91-d153-36da-4a4b-61c7633a39a8" "pdl=application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster,image/urf" "product=(HP OfficeJet Pro 8720)" "priority=0" "note=" "adminurl=https://st-xps-9550.local.:631/printers/HP_OfficeJet_Pro_8720" "ty=HP OfficeJet Pro 8720, driverless, cups-filters 1.27.4" "rp=printers/HP_OfficeJet_Pro_8720" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 HP Officejet 6500 E710n-z @ st-xps-9550       Secure Internet Printer local
   hostname = [st-xps-9550.local]
   address = [172.21.67.94]
   port = [631]
   txt = ["printer-type=0x901E" "Duplex=T" "Color=T" "mopria-certified=1.3" "URF=V1.4,CP1,W8,PQ4-5,SRGB24,RS300,DM1,FN3" "TLS=1.2" "UUID=dbeb1e61-85e3-3fba-76d4-c4e049c73090" "pdl=application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster,image/urf" "product=(HP Officejet 6500 e710n-z)" "priority=0" "note=" "adminurl=https://st-xps-9550.local.:631/printers/HP_Officejet_6500_E710n-z" "ty=HP Officejet 6500 e710n-z, hpcups 3.22.10" "rp=printers/HP_Officejet_6500_E710n-z" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 Lexmark CS725 @ diracium                      Secure Internet Printer local
   hostname = [diracium.local]
   address = [172.21.110.10]
   port = [631]
   txt = ["printer-type=0x80B0DE" "printer-state=3" "Collate=T" "Copies=T" "Duplex=T" "Color=T" "TLS=1.2" "UUID=f86f96fb-b06e-3d78-623b-6d6b8adb2f65" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(Lexmark CS728de)" "priority=0" "note=Meeting room S-442" "adminurl=https://diracium.local.:631/printers/ley725tp3" "ty=Lexmark CS725 Series" "rp=printers/ley725tp3" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 EPSON ET-2710 Series @ st-xps-9550            Secure Internet Printer local
   hostname = [st-xps-9550.local]
   address = [172.21.67.94]
   port = [631]
   txt = ["printer-type=0x100E" "Color=T" "mopria-certified=1.3" "URF=V1.4,CP1,W8,PQ4,OFU0,SRGB24,RS300,FN3" "TLS=1.2" "UUID=39f0443b-e523-3568-6c0f-78e9c845ef9c" "pdl=application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster,image/urf" "product=(EPSON ET-2710 Series)" "priority=0" "note=st-xps-9550" "adminurl=https://st-xps-9550.local.:631/printers/ET-2710-Series" "ty=EPSON ET-2710 Series , Epson Inkjet Printer Driver (ESC/P-R) for Linux" "rp=printers/ET-2710-Series" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 EPSON WF-2830 Series @ Lisa___s MacBook Air (2) Secure Internet Printer local
   hostname = [Lisas-MacBook-Air-4.local]
   address = [172.21.138.48]
   port = [631]
   txt = ["printer-type=0x400905E" "printer-state=3" "Scan=T" "Copies=T" "Duplex=T" "Color=T" "TLS=1.2" "UUID=a0ad000f-ef7c-38d2-56e2-343828abe54b" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(EPSON WF-2830 Series)" "priority=0" "note=" "adminurl=https://Lisas-MacBook-Air-4.local.:631/printers/EPSON_WF_2830_Series" "ty=EPSON WF-2830 Series-AirPrint" "rp=printers/EPSON_WF_2830_Series" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 Lexmark543 @ Kunstpaedagogiks MacBook Pro     Secure Internet Printer local
   hostname = [Kunstpaedagogiks-MacBook-Pro.local]
   address = [172.21.80.183]
   port = [631]
   txt = ["printer-type=0x80304E" "printer-state=3" "Copies=T" "Color=T" "TLS=1.2" "UUID=a77c8172-bcec-3723-6f4c-27f483dcd0ff" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(PostScript Printer)" "priority=0" "note=B\195\188sras MacBook Air" "adminurl=https://Kunstpaedagogiks-MacBook-Pro.local.:631/printers/Lexmark543" "ty=Generic PostScript Printer" "rp=printers/Lexmark543" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 Brother DCP-9022CDW @ MacBook Air von Amarela Secure Internet Printer local
   hostname = [MacBook-Air-von-Amarela.local]
   address = [172.21.173.132]
   port = [631]
   txt = ["printer-type=0x901E" "printer-state=3" "Duplex=T" "Color=T" "TLS=1.2" "UUID=c1147481-d8b9-36ab-6772-de517c379992" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(Brother DCP-9022CDW)" "priority=0" "note=" "adminurl=https://MacBook-Air-von-Amarela.local.:631/printers/Brother_DCP_9022CDW" "ty=Brother DCP-9022CDW-AirPrint" "rp=printers/Brother_DCP_9022CDW" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 HP Officejet 5740 series @ Sophias MacBook Pro (2) Secure Internet Printer local
   hostname = [Sophias-MacBook-Pro-2.local]
   address = [172.21.114.50]
   port = [631]
   txt = ["printer-type=0x40090D6" "printer-state=3" "Scan=T" "Collate=T" "Copies=T" "Duplex=T" "TLS=1.2" "UUID=a28310a1-7b05-31bd-7561-09dc26e6535d" "pdl=application/octet-stream,application/pdf,image/jpeg,image/png,image/pwg-raster" "product=(HP Officejet 5740 series)" "priority=0" "note=Sophias MacBook Pro" "adminurl=https://Sophias-MacBook-Pro-2.local.:631/printers/HP_Officejet_5740_series" "ty=HP Officejet 5740 series-AirPrint" "rp=printers/HP_Officejet_5740_series" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 EPSON XP-710 Series @ Karlottas MacBook Air   Secure Internet Printer local
   hostname = [Karlottas-MacBook-Air.local]
   address = [172.21.138.206]
   port = [631]
   txt = ["printer-type=0x480900E" "printer-state=3" "Scan=T" "Color=T" "TLS=1.2" "UUID=a7a68f72-ca21-3d93-6748-8a5e24fc1da3" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(EPSON XP-710 Series)" "priority=0" "note=Karlottas MacBook Air" "adminurl=https://Karlottas-MacBook-Air.local.:631/printers/EPSON_XP_710_Series" "ty=EPSON XP-710 Series" "rp=printers/EPSON_XP_710_Series" "qtotal=1" "txtvers=1"]
Failed to resolve service 'Brother MFC-L2710DW series @ MacBook Pro von Laura (2)' of type '_ipps._tcp' in domain 'local': Timeout reached
➜  ~ avahi-browse -rt _ipp._tcp
+ wlp0s20f3 IPv4 EPSON WF-2830 Series @ Lisa___s MacBook Air (2) Internet Printer     local
+ wlp0s20f3 IPv4 Lexmark CS725 @ diracium                      Internet Printer     local
+ wlp0s20f3 IPv4 Lexmark543 @ Kunstpaedagogiks MacBook Pro     Internet Printer     local
+ wlp0s20f3 IPv4 EPSON ET-2710 Series @ st-xps-9550            Internet Printer     local
+ wlp0s20f3 IPv4 HP Officejet 6500 E710n-z @ st-xps-9550       Internet Printer     local
+ wlp0s20f3 IPv4 HP OfficeJet Pro 8720 @ st-xps-9550           Internet Printer     local
+ wlp0s20f3 IPv4 HP Fax 4 @ st-xps-9550                        Internet Printer     local
+ wlp0s20f3 IPv4 Brother DCP-9022CDW @ MacBook Air von Amarela Internet Printer     local
+ wlp0s20f3 IPv4 HP Officejet 5740 series @ Sophias MacBook Pro (2) Internet Printer     local
+ wlp0s20f3 IPv4 Brother MFC-L2710DW series @ MacBook Pro von Laura (2) Internet Printer     local
+ wlp0s20f3 IPv4 EPSON XP-710 Series @ Karlottas MacBook Air   Internet Printer     local
= wlp0s20f3 IPv4 EPSON WF-2830 Series @ Lisa___s MacBook Air (2) Internet Printer     local
   hostname = [Lisas-MacBook-Air-4.local]
   address = [172.21.138.48]
   port = [631]
   txt = ["printer-type=0x400905E" "printer-state=3" "Scan=T" "Copies=T" "Duplex=T" "Color=T" "TLS=1.2" "UUID=a0ad000f-ef7c-38d2-56e2-343828abe54b" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(EPSON WF-2830 Series)" "priority=0" "note=" "adminurl=https://Lisas-MacBook-Air-4.local.:631/printers/EPSON_WF_2830_Series" "ty=EPSON WF-2830 Series-AirPrint" "rp=printers/EPSON_WF_2830_Series" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 Lexmark CS725 @ diracium                      Internet Printer     local
   hostname = [diracium.local]
   address = [172.21.110.10]
   port = [631]
   txt = ["printer-type=0x80B0DE" "printer-state=3" "Collate=T" "Copies=T" "Duplex=T" "Color=T" "TLS=1.2" "UUID=f86f96fb-b06e-3d78-623b-6d6b8adb2f65" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(Lexmark CS728de)" "priority=0" "note=Meeting room S-442" "adminurl=https://diracium.local.:631/printers/ley725tp3" "ty=Lexmark CS725 Series" "rp=printers/ley725tp3" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 Lexmark543 @ Kunstpaedagogiks MacBook Pro     Internet Printer     local
   hostname = [Kunstpaedagogiks-MacBook-Pro.local]
   address = [172.21.80.183]
   port = [631]
   txt = ["printer-type=0x80304E" "printer-state=3" "Copies=T" "Color=T" "TLS=1.2" "UUID=a77c8172-bcec-3723-6f4c-27f483dcd0ff" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(PostScript Printer)" "priority=0" "note=B\195\188sras MacBook Air" "adminurl=https://Kunstpaedagogiks-MacBook-Pro.local.:631/printers/Lexmark543" "ty=Generic PostScript Printer" "rp=printers/Lexmark543" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 EPSON ET-2710 Series @ st-xps-9550            Internet Printer     local
   hostname = [st-xps-9550.local]
   address = [172.21.67.94]
   port = [631]
   txt = ["printer-type=0x100E" "Color=T" "mopria-certified=1.3" "URF=V1.4,CP1,W8,PQ4,OFU0,SRGB24,RS300,FN3" "TLS=1.2" "UUID=39f0443b-e523-3568-6c0f-78e9c845ef9c" "pdl=application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster,image/urf" "product=(EPSON ET-2710 Series)" "priority=0" "note=st-xps-9550" "adminurl=https://st-xps-9550.local.:631/printers/ET-2710-Series" "ty=EPSON ET-2710 Series , Epson Inkjet Printer Driver (ESC/P-R) for Linux" "rp=printers/ET-2710-Series" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 HP Officejet 6500 E710n-z @ st-xps-9550       Internet Printer     local
   hostname = [st-xps-9550.local]
   address = [172.21.67.94]
   port = [631]
   txt = ["printer-type=0x901E" "Duplex=T" "Color=T" "mopria-certified=1.3" "URF=V1.4,CP1,W8,PQ4-5,SRGB24,RS300,DM1,FN3" "TLS=1.2" "UUID=dbeb1e61-85e3-3fba-76d4-c4e049c73090" "pdl=application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster,image/urf" "product=(HP Officejet 6500 e710n-z)" "priority=0" "note=" "adminurl=https://st-xps-9550.local.:631/printers/HP_Officejet_6500_E710n-z" "ty=HP Officejet 6500 e710n-z, hpcups 3.22.10" "rp=printers/HP_Officejet_6500_E710n-z" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 HP OfficeJet Pro 8720 @ st-xps-9550           Internet Printer     local
   hostname = [st-xps-9550.local]
   address = [172.21.67.94]
   port = [631]
   txt = ["printer-type=0x901E" "Duplex=T" "Color=T" "mopria-certified=1.3" "URF=V1.4,CP1,W8,PQ3-4-5,SRGB24,RS300,DM1,FN3" "TLS=1.2" "UUID=9a4dee91-d153-36da-4a4b-61c7633a39a8" "pdl=application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster,image/urf" "product=(HP OfficeJet Pro 8720)" "priority=0" "note=" "adminurl=https://st-xps-9550.local.:631/printers/HP_OfficeJet_Pro_8720" "ty=HP OfficeJet Pro 8720, driverless, cups-filters 1.27.4" "rp=printers/HP_OfficeJet_Pro_8720" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 HP Fax 4 @ st-xps-9550                        Internet Printer     local
   hostname = [st-xps-9550.local]
   address = [172.21.67.94]
   port = [631]
   txt = ["printer-type=0x100E" "Color=T" "mopria-certified=1.3" "URF=V1.4,CP1,W8,PQ4,SRGB24,RS300,FN3" "TLS=1.2" "UUID=cb1415ea-c4a0-337d-41c8-62950cc7ba06" "pdl=application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster,image/urf" "product=(HP Fax4)" "priority=0" "note=st-xps-9550" "adminurl=https://st-xps-9550.local.:631/printers/Officejet-6500-E710n-z-Fax-4" "ty=HP Fax4 hpcups" "rp=printers/Officejet-6500-E710n-z-Fax-4" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 Brother DCP-9022CDW @ MacBook Air von Amarela Internet Printer     local
   hostname = [MacBook-Air-von-Amarela.local]
   address = [172.21.173.132]
   port = [631]
   txt = ["printer-type=0x901E" "printer-state=3" "Duplex=T" "Color=T" "TLS=1.2" "UUID=c1147481-d8b9-36ab-6772-de517c379992" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(Brother DCP-9022CDW)" "priority=0" "note=" "adminurl=https://MacBook-Air-von-Amarela.local.:631/printers/Brother_DCP_9022CDW" "ty=Brother DCP-9022CDW-AirPrint" "rp=printers/Brother_DCP_9022CDW" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 HP Officejet 5740 series @ Sophias MacBook Pro (2) Internet Printer     local
   hostname = [Sophias-MacBook-Pro-2.local]
   address = [172.21.114.50]
   port = [631]
   txt = ["printer-type=0x40090D6" "printer-state=3" "Scan=T" "Collate=T" "Copies=T" "Duplex=T" "TLS=1.2" "UUID=a28310a1-7b05-31bd-7561-09dc26e6535d" "pdl=application/octet-stream,application/pdf,image/jpeg,image/png,image/pwg-raster" "product=(HP Officejet 5740 series)" "priority=0" "note=Sophias MacBook Pro" "adminurl=https://Sophias-MacBook-Pro-2.local.:631/printers/HP_Officejet_5740_series" "ty=HP Officejet 5740 series-AirPrint" "rp=printers/HP_Officejet_5740_series" "qtotal=1" "txtvers=1"]
= wlp0s20f3 IPv4 EPSON XP-710 Series @ Karlottas MacBook Air   Internet Printer     local
   hostname = [Karlottas-MacBook-Air.local]
   address = [172.21.138.206]
   port = [631]
   txt = ["printer-type=0x480900E" "printer-state=3" "Scan=T" "Color=T" "TLS=1.2" "UUID=a7a68f72-ca21-3d93-6748-8a5e24fc1da3" "pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/pwg-raster" "product=(EPSON XP-710 Series)" "priority=0" "note=Karlottas MacBook Air" "adminurl=https://Karlottas-MacBook-Air.local.:631/printers/EPSON_XP_710_Series" "ty=EPSON XP-710 Series" "rp=printers/EPSON_XP_710_Series" "qtotal=1" "txtvers=1"]
Failed to resolve service 'Brother MFC-L2710DW series @ MacBook Pro von Laura (2)' of type '_ipp._tcp' in domain 'local': Timeout reached