sane-airscan
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Canon PIXMA G4010 Series: confirmed to work with eSCL
https://forums.linuxmint.com/viewtopic.php?f=51&t=368515
scanimage -L device 'pixma:04A9183D_213AE6' is a CANON Canon PIXMA G4010 Series multi-function peripheral device 'escl:http://fe80::40dc:43f1:e0b1:ed5b:60000' is a Canon G4010 series (USB) platen,adf scanner device `airscan:e0:Canon G4010 series (USB)' is a eSCL Canon G4010 series (USB) ip=127.0.0.1, 192.168.1.65
dave@dpoffice:~$ airscan-discover [devices] Canon G4010 series (USB) = http://127.0.0.1:60000/eSCL/, eSCL Canon G4010 series (USB) = http://192.168.1.65:60000/eSCL/, eSCL Canon G4010 series (USB) = http://[fe80::40dc:43f1:e0b1:ed5b%252]:60000/eSCL/, eSCL
Also, IPP-over-USB worked well fot this user.