If you have a VPN App or profiles installed, or a security/AV/firewall App such as Norton, these may be interfering with your iPad's network stack - sometimes impacting AirPrint/AirDrop and related services - even if the VPN connection is seemingly turned off.
If applicable, the resolution is usually simple; you may need to remove the Security App and/or VPN from the device - and then perform a forced restart. You might also try a reset of your iPad's network settings:
Settings > General > Transfer or Reset iPad > Reset > Reset Network Settings
If this resolves your issue, the VPN and/or security App can be reinstated after the connectivity problem has been resolved. You might also
If some Apps are working as expected, while others are not - or other devices can connect to your WiFi network - you may find that a restart of your WiFi Router, followed by a restart of your iPad and Mac may clear the problem….
To restart your router, disconnect power from the router for at least 30 seconds - then reconnect power to restart. After your router reboots (which may take several minutes), force restart your iPad:
Force restart iPad - Apple Support