Hi,
The HP Color LaserJet Enterprise CP4025 does not appear to be a model supporting the driverless AirPrint technology, so it would proably be correct to assume that drivers are needed.
To begin with, it may be a good idea to reset the printing system. Does the operating system offer a suitable driver to use?
Reset the Mac printing system to solve a problem - Apple Support
Add a printer on Mac - Apple Support
If necessary, you could try the HP Printer Drivers v5.1 for macOS (https://support.apple.com/kb/DL1888?viewlocale=en_US&locale=en_US) package download from Apple (the link that you also mentioned). It should not be necessary to use any extra software to handle the updated download with the post date Dec 11, 2020. Once open, look for and try something like the HP Color LaserJet CP4020-CP4520 Series 19.13 driver version mentioned in the Printer and scanner drivers for Mac - Apple Support article.
When testing drivers, there may be software conflicts. Make sure that you have backup copies of all important files (documents, photos, et cetera).