how to print to hp on private network 192.168.1.x behind the xfinity 10.0.0.x network

i previously used my own cable modem and separate home wifi router netgear r7800.

i switched to higher xfinity internet speed and now use the xfinity gateway xb8.

i simply plugged the negear r7800 in to one of the 1gb ports on the xfinity x8 gateway so i didnt have to make any changes to any devices in my home.

i don't want to use bridge mode on the xb8

but the question is this.

when i am on the xfinity side 10.0.0.x network, i can no longer print to an hp printer on the 192.168.1.x network on the netgear router side.

without removing my netgear router, what is the easiest/simplest way to be able to still print from both the 10.x and 192.x networks to this printer?

i dont see a way from the xfinity side using port fowarding.  my curent prnter is a static ip on the 192.x network

maybe move the printer to another port on the xb8 with a reserved 10.x ip and put a route or port forward from the netgear 192.x side?