If you want authentication on a Ricoh machine without any additional software, you are limited to Windows authentication or User Codes, which could also be called "PIN codes".

Card readers need software to talk to, which the MFP cannot provide.

FWIW, if you do go forward with any solution, such as CAP, PaperCut, etc...note that all these apps require Java. I don't think that any of the models you have mentioned have it as standard equipment, so it would need to be added to each machine.

I mentioned Java because all too often it gets forgotten about, then becomes a panic when things don't work at install time. I think we've all been there at one time or another.