TLDR: If you are using ubuntu, simply install with sudo apt install wsdd. On your Windows boxes, ensure that the services (Windows Key + R to launch services manager) “Function Discovery Provider Host” and “Function Discovery Resource Publication” both have the Startup Type of “Automatic”
Link to blog post where I first stumbled onto this solution explaining the issue at length: https://linux-blog.anracom.com/2020/05/24/samba-4-shares-wsdd-and-windows-10-how-to-list-linux-samba-servers-in-the-win-10-explorer/