Assuming that most routers are silently compromised, with their command-and-control operators just waiting for an exploit like this one, is almost par for the course these days!
The problem: you're thinking in terms of home/small business networks.
The rest of us are thinking in terms of larger networks (in my case with hundreds of subnets and tens of thousands of nodes) where "631 is blocked at the firewall" isn't of much relief. The firewall is merely one, rather easy to get past, barrier. We're also concerned with east/west traffic.
For sure, and sending hug-ops to teams like yours that have to deploy & enforce mass patches! But I'm also thinking of environments that don't even have the benefit of a team like yours. https://issuetracker.google.com/issues/172222838?pli=1 is (or seems to be?) a saving grace, without which every school using Chromebooks could see worms propagating rapidly if even one student connected to a compromised router at home.
Would you also not block this at the firewall on individual nodes: if you block incoming incoming UDP on port 631 that would at least eliminate one of the two entry points, right?
There is no detail in the article about the other.
The port has to be open on the node for the functionality to work - the whole point is that printers on the same LAN can auto-register. If you don't want that, disabling cups-browsed is much safer than just relying on the firewall. If you do want that, you can't firewall the port at all.
Assuming that most routers are silently compromised, with their command-and-control operators just waiting for an exploit like this one, is almost par for the course these days!