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If the printer is a network printer with WiFi / Ethernet support then yes to both your questions. The only router related parameter that I can think of which may cause issues is ‘Wireless Isolation’ (default is disabled), so check it’s disabled (assuming the R7000 has that feature, I can’t check right now).
Access between Ethernet and Wi-Fi is one thing. We've established that that is allowed.
Wi-Fi performance is completely unrelated and, unforunately, subject to a lot of variables. The capabilties of Wi-Fi adapters in your computer, the Wi-Fi protocol (like 802.11n or 802.11ac), the Wi-Fi band used (2.4 GHz or 5 GHz), the channel width, the channel congestion, radio noise from non-Wi-Fi devices operating in the same frequency, signal absorption and reflection by walls.
If you are getting 50 Mbps on Wi-Fi, then I'll wager that your computer is joined to the 2.4 GHz network and probably only has a single antenna. If I'm correct, then 50 Mbps is pretty typical. If possible, use the 5 GHz network. It's frequently less congested and fundamentally has higher bandwidth, albeit with less range. But unless you are at the fringes of the 5 GHz network where the connection is intermittent, it will almost always be faster than 2.4 GHz.
The printer is a wifi/ethernet network printer but will not allow both at the same time.
I think there may be some confusion from what I have read. The printer can connect either wired or wireless once connected any PC on same network should be able to print to it BUT, you need each pc to turn on network discovery and file and printer sharing.
