azure ad joined devices printing to on prem printers

[Fab_Rod]

We have azure ad joined devices that are trying to print to our server on premises. I have seen the hybrid cloud printing solution but the thing is we have windows server 2012 r2 which seems not to be supported by that solution. Are there other solutions that we could try out? 

[#2]

@Fab_Rod 
I think you should have a look on services like Printix

[#3]

Have you looked into the Microsoft Solution, Universal print?
https://www.microsoft.com/en/microsoft-365/windows/universal-print