The guide for the mx920 shows setting it up without using wps. I didn’t link to it here or it moderates the post but its avaiable on canon’s website and google

If you are unable to connect Canon MX920 printer with G34, I suggest you to change the security mode on GUI web portal.

Launch a web browser> enter in the address box as 192.168.0.1>Login in with your credentials (username and password).

Once you logged in: select Gateway>Summary>Connection>WIFI>Networks>Edit.

You have to change the security mode as WPAWPA2-PSK(TKIP/AES).