Hi,
Have you tried the Feb 11, 2021 Samsung Universal Print Driver V3.93.01 for SL-M2020 and some other models (https://ftp.hp.com/pub/softlib/software13/printers/SS/Print_Common_SW/Samsung_Mac_Driver_V3.93.01.dmg), which may or may not work with your printer (using a network connection)? See also the https://support.hp.com/us-en/document/c06520117 article (where an ML-2161 is mentioned).
Look upon this as an experiment. Remember, there is always a certain risk with any experiment. Software conflicts cannot be ruled out. A hardware problem is unlikely, but it is impossible to guarantee anything. You may have to erase and reinstall everything on the computer. Data may be lost. Do not proceed unless you know what you are doing. In any case, make sure that you have at least three backup copies of all important files (documents, photos, etc.) before you start.
Also, do not download drivers from unknown sites. Download from the printer manufacturer, or from another trustworthy source (such as Apple).
First of all, you may want to reset the printing system.
Add a printer on Mac - Apple Support
Reset the Mac printing system to solve a problem - Apple Support