There are two basic rubber chemistries - Thermoset and thermoplastic. Thermoset is a one time non reversible chemical reaction. Thermoplastic is reversible and is processed by heating and cooling the material.
The 3D printing process works using thermoplastic materials. So because of that, you are limited in which materials are available with properties to match. The tradition rubber parts used on our cars are made using the thermoset process. All this to say that if you printed a “rubber” part, it will not feel exactly the same as OEM. May work and look the same, but not exactly the same.
I would talk to a 3D printer and see what material is available. You need to know the application and what the part is going to be exposed to - temperature, fluids, etc.. Also need to know the hardness as measured by Shore A.