This should give you what you want:
select SMS_R_System.Name, SMS_R_System.LastLogonUserName, SMS_G_System_PRINTER_DEVICE.Description, SMS_G_System_PRINTER_DEVICE.DriverName, SMS_G_System_PRINTER_DEVICE.Location, SMS_G_System_PRINTER_DEVICE.ShareName from SMS_R_System inner join SMS_G_System_PRINTER_DEVICE on SMS_G_System_PRINTER_DEVICE.ResourceID = SMS_R_System.ResourceId
SMS does not collect network printer information due to a WMI problem (the CIM Win32_Printer has the information, but the implementation of SMS_Printer for hardware collection doesn't work properly -- something like that; I don't know all the details).