netbsd-raspa4# cat /boot.cfg
menu=Boot normally:userconf disable ulpt;boot
netbsd-raspa4# dmesg | grep ulpt
[ 3,843112] ulpt0 at uhub2 port 3 configuration 1 interface 0
[ 3,843112] ulpt0: HP (0x03f0) Deskjet D1400 series (0x7904), rev 2.00/1.00, addr 4, iclass 7/1
[ 3,843112] ulpt0: using bi-directional mode
netbsd-raspa4#
Do you boot with Tianocore EDK2 (UEFI)? Do you see the NetBSD bootloader (with the ASCII art flag) when booting?
If you cannot get the bootloader to do what you want, another solution would be to compile your own kernel, as I recently did on a RPi3: https://bentsukun.ch/posts/netbsd-wedge-boot/
—
Benny