You really need to speak with HP. It is their computer using their drivers. I believe
The 6032 is a real All-in-One but what I see on the H site suggests have very diminished capability with recent macOS upgrades.
On this HP page for the Envy 6032 suggest that support stopped at macOS 10.4. For 10.14 and older, they say to use can AirPrint.
https://support.hp.com/us-en/drivers/selfservice/hp-envy-6000-all-in-one-printer-series/29256672/model/33518705
However, there is a firmware update from Jan 2021pending for that model showin on the page
In this Apple article on AirPrint. your old HP is supported by Airprint.
About AirPrint - Apple Support
More here:
Print wirelessly from your Mac to an AirPrint printer - Apple Support
If you have to manually add the printer and have Apple check for compatible drivers, use System Prefences > Printers & Scanners: