I found a solution, its not the best nor was it my ideal method but to physically move the printer to the room I am in and connect it to my computer Via USB and it will work.
The VPN does something where it disconnects from my devices on my local network and only sees work network. As soon as my VPN client connects, my Work printer icon goes from offline to online and my local inkjet printer icon goes from online to offline in the printers and devices screen.
I can live with using a USB Cable as a work around, just looking for a easy work around but if none exists, I do NOT MIND buying a 10 or 12 foot USB cable. I also talked to a co-worker of mine and confirmed this happens on home printers connected via Ethernet too, mine happens to be Wi-Fi but meh. Maybe I will use Google Cloud Printing in the mean time, but I too heard that will be discontinued by late 2020. damn
Anyways I was looking for a simple solution without moving my printer but if i have to move it, then so be it, just need a longer usb cable, oh well.