You can take different approaches on different things. A browser is probably the most exposed piece of software in your system, so maybe be aggressive with updates on that, but a printer is unlikely to be exposed to untrusted inputs so I would question whether there's any point updating it ever unless you have a specific issue you're trying to fix.
This is pretty much my take on it. Once I get a printer installed and working, that's the last time I look at the software for it. I'm also not a heavy printer, so my printer tends to be unplugged more than it's actually turned on.
My publicly facing servers get patched as soon as I'm aware there are updates available. If it borks anything, I just turn to the previous backup (not that this has ever actually happened).
The last time I tried updating an HP printer, it locked up and printed half a ream of jibberish before I pulled the plug on it. Now, I just put printers on a firewalled VLAN and call it a day.
