I read all the messages again, and realised that you could make a perfect print directly from a scan. Sorry, I had overlooked that one at first. If you can make a perfect print in whatever way, it can't really be a hardware problem, even though it does look a lot like missing yellow ink.
As I said, the 'Managed by printer' setting in Lightroom means that Lightroom does not apply any color management (because the color is managed by the printer), so the suggestion that this problem is caused by 'double color management' is definitely wrong. However, just by coincidence, the proposed solution may still be correct. I think that the problem isn't double color management, but no color management at all. Lightroom doesn't do it, and in the printer driver screenshots I also don't see much that suggests that the printer is doing it. So changing the profile setting in Lightroom to the correct color profile rather than 'Managed by printer' may still be the solution.
Having said that, there are two areas in the printer driver that justify a closer look as well. First of all, in the Main tab, you have Color/Intensity set to 'Auto'. That may not be full color management, but it does look like some kind of automatic color correction, and that should not happen if you let Lightroom make the color corrections. What happens if you change this to Manual and press the Set button that will (probably) become active? Is there an option to turn off any color adjustment? Secondly, in the Page Setup tab, you have a button Print Options. That too could possibly lead to a dialog where you can enable/disable color management, although that is less likely. I don't have a Canon printer myself, so apologies if this button has nothing to do with that. Better safe than sorry.