Five or six years ago, I was running into the same type problems you are currently having. Solved it by purchasing a Print Server. The server is connected to your router then the printer is connected to the server. That makes it a part of your network which means that it will work with any computer on your network. In my case, that includes computers using different operating systems.

I made a quick Google search and found many that are available from $30 to $50 dollars (US).

Additional information: A couple years ago I decided to pick up a wireless print server. Never could get it to work. Back then, my network was hard-wired to several buildings on the property. Besides the router, there were multiple switches and some very long CAT-5 cable runs. My network is much simpler now (fewer switches and no long cable runs), so I may give that wireless print server another try.