Pixma just worked for me with GNOME ams the built in scanner app. If you mean network scanning, that's a different story
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I used to have a Canon Pixma, and the SANE drivers recognized it and scanned from it with no issues, down to the ADF feeder. It was really surprisingly simple, zero setup configuration.
I basically just used the preinstalled software, Skanlite, and it showed with the scanner pre-selected and ready to go.
Of course, YMMV.
I have a Canon MX340 (maybe pixma?) that works with gutenprint. The ADF is a bit messed up but it otherwise works as intended. If you have a similar model, it will probably be supported.
I think usually you'd use SANE for a scanner
Yep, SANE is great.
As a non-free alternative, VueScan is pretty good too.