I used the original H-P DeskJet and the DJ500 on a pure DOS machine - no problem.Inkjet printer that works on a dos machine?
Back then, printer drivers were contained in application software, i.e., WordPerfect 5.1 for DOS had printer drivers. So did Volkswriter and other word processors. Likewise, the original Lotus 1-2-3 had drivers.
You probably will have to be lucky and hit some yard sales.
Do a Google for "DOS Printer Drivers" and you will see what I have said illustrated with sources. You have to focus on the DOS application. MS DOS also had generic printer drivers built in.