Don't do this. Don't do it, and then don't do it some more.

Plug the printer in via USB if you need it.

If I were the company infosec guy, and I got so much as a sniff that an end-user was compromising their VPN connection in this way, I'd raise a serious security incident immediately, and be having my boss speak to their boss as a matter of urgency.

You're basically exposing the company network, which has a security stance that they're happy with (for whatever value of "happy" you care to choose) to your network, which is completely unknown to them. This is unacceptable.