@James Morgan, Thanks for posting in Q&A.
From your description, I know you have trouble deploying printers with Intune using device groups.
Based on my research, here is a link you can refer to monitor device configuration profiles and some common issues.
If the common issues (in this article) don't resolve your issue, you can use Fiddler tracing, the Print-Collect script, and UPPrinterInstaller.exe to resync the Intune installation of the universal printer.
Please try above information, if there is any update, feel free to let me know.
If the answer is helpful, please click "Accept Answer" and kindly upvote it. If you have extra questions about this answer, please click "Comment".
Note: Please follow the steps in our documentation to enable e-mail notifications if you want to receive the related email notification for this thread.