Fortunately, this couldn't be any easier. Simply search for your printer name in the search engine of your choice and download the latest Windows 10 compatible drivers, but make sure you download them from the website of the actual manufacturers. Follow the instructions provided by the manufacturer to install them, and you're good to go.
The shift from Windows 8.1 to 10 is much less disturbing than the shift from Windows 7 to 8 was, but there are still some programs that can get disabled and stop running at all in some instances.
The most frustrating aspect of automatic updates is the restart, which may appear to occur at random (and at inconvenient times). The best way to counteract this is to go to Windows Update (in Settings > Update & Security), select Advanced Options, and then Notify Schedule Restart, which ensures that instead of interrupting whatever you are working on, the OS will request a reboot.
If you notice that you are not able to successfully activate Windows 10, Microsoft has introduced a new activation troubleshooting feature in the Anniversary Update. In Settings, you will find this, then click Update & Security, go to Activation, and choose Troubleshoot (if the OS has been enabled, you won't see this option).