GNU/Linux Ubuntu 22.04 Canon PIXMA MP235/MP236/MP237/MP238 Printer Setup – Step by step Guide
The linked tutorial shows you step-by-step How to Install Canon PIXMA MP235/MP236/MP237/MP238 Printer/Scanner in Ubuntu 22.04 Jammy LTS GNU/Linux desktop – Step by step Tutorial.
And the Canon PIXMA MP235/MP236/MP237/MP238 Ubuntu Driver Setup It’s quick and easy because it only involves running a few Basic Shell Commands.
Especially relevant: after the Driver Installation to achieve the Printer Setup follow guidance to Add Printer!
Finally, included in the guide you find also instructions to QuickStart with Canon Scanning on Ubuntu.

Canon PIXMA MP235/MP236/MP237/MP238 Printer Ubuntu Installation Guide