Cause:
On your RDP connection, you have enabled the local printers so
the server is attempting to map that printer. Therefore, you can print
locally from within the RDP session. The server does not have that printer
driver installed henceforth the error. You need either to uncheck allowing
local printers.

Fix:
Click Start > Administrative Tools > Terminal Services Configuration
Locate the RDP-TCP connector (right hand window) Right click > Properties >
Client Settings Tab > Untick "Use connection settings from user settings" >
Untick "Connect client printers at logon" > Apply > Close > OK

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