That HP OfficeJet 6500 inkjet printer looks to be eight or ten years old, or so.
Predates (lacks) AirPrint support, too. (AirPrint moved the drivers directly into the printer, which means we don’t necessarily need to find and load vendor printer drivers for most printer functions.)
Swapping the Wi-Fi router probably means the printer is either manually configured, or maybe needs to be reset.
If this document is not already familiar, see page 218 and following: http://h10032.www1.hp.com/ctg/Manual/c01669504.pdf
HP has an omnibus printing package that might have drivers.
https://apps.apple.com/us/app/hp-smart-for-desktop/id1474276998?mt=12
If you decide to replace:
Which Printer Should I Buy? - Apple Community
Local preference is Brother printers.