@Leonardo Piaggi, Thanks for posting in Q&A. For Intune RBAC, it is used to grant permission to manage your organization resource.
https://learn.microsoft.com/en-us/mem/intune/fundamentals/role-based-access-control
To let standard user to add & remove printers, it needs the permission on the local device. Default Windows security settings require a user to have local admin permissions to install a printer driver.
You can allow non-administrator users to add printer on their windows computers by installing the driver on printer and setting the following policies in Intune Settings Catalog.
For more details, you can refer to the following link:
https://theitbros.com/allow-non-admins-install-printer-drivers-via-gpo/
Note: non-Microsoft link, just for the reference.
Hope the above information can help.
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