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VPN and firewall does not all me to access Printer

Firewall and VPN is preventing accessing Brother Printer.

I have had several tickets with Norton support, but I was advised it is a "Manufacturer issue and not an Issue with Norton".

However, I found out, If I turn both off then I can access the Printer.  But I do not want to leave the computer exposed, just to access Printer - I bought Norton 360 within the last few weeks.

Please help.