Generally, this is enough to get an HP printer working, especially for wired printers. If using bluetooth, you might require adding it to your system via bluetooth connections as well.
First thing to do is to install Synaptic Package Manager, either through Software or via the terminal with:
sudo apt install synaptic
You will be asked for your password to install. Once installed launch Synaptic Package Manager - if still in the Terminal (Just enter Terminal in Menu search bar to launch) enter:
sudo synaptic
Once launched, click on 'Search' and enter:
printer-driver-all
Next, once it has been found, click on the little square to the left, right-click and select 'Mark for installation', then click on 'Apply'. What this is is a meta package that pulls everything in together, including CUPS, HPLIP, Gutenprint and most importantly, foomatic. I am in a different OS at the moment, but I have installed printer-driver-all on it and 1020 Plus shows up when I add it:
But don't go via Settings when you want to add a printer. The best way to do this is via the terminal with the command:
sudo system-config-printer
This is something I learned from the PearOS forum (sadly no more) many years ago. If you printer is networked, the first thing you will need to do is to halt autodiscovery, and then to disable it - all this is explained in the Unofficial Manual for Zorin 17:
This was for a different printer but the process is the same. (Don't think I knew about printer-driver-all until a helpful person who inputs regularly to PCLOS Debian and Q4OS forum).
Screenshots are given in the Unofficial Manual for each stage of the process.