You can adapt the ideas in my post here http://forum.mikrotik.com/t/how-to-mdns-and-ssdp-over-wireguard/165473/1 (mDNS over Wireguard) and use the GRE (with IPSEC) interface instead of Wireguard but still use EoIP and bridge filtering.
I strongly encourage the use of PIM-SM first in this situation as some devices and apps use mDNS and/or protocols that work over PIM-SM, but if you really need mDNS you can resort to this method as PIM-SM, good as it is, won’t work with mDNS because it’s link-local. It’s a shame printer manufacturers don’t support some kind of protocol that work with PIM-SM.