You say that you're using Canon's Luster paper. I always follow up by asking them if they compared the print's colours side-by-side with their image shown on their monitor the differences are more noticeable when viewed together. I've had several friends who've recently bought printers tell me they don't soft proof and that their prints look fine. I'd say that people can generally get away without soft proofing their images if they are using glossy, semi-glossy, or baryta paper, but I'd still advise against it. Soft proofing in Lightroom gets me within the 95% range with my prints, especially when using Hahnemuehle's William Turner matte photo paper. I've found it works better than my old Spyder system. I'm using the X-Rite i1Display system for my iMac Pro and Dell 5K monitor.