Thank you for the information.
It appears to be the same driver for the M2020W:
https://support.hp.com/us-en/drivers/selfservice/samsung-xpress-sl-m2020-laser-printer-series/16462592/model/16462596
The universal driver is used with a number of Samsung models (see also this post).
Anything under Use in the Add Printer dialogue?
Since the W indicates a wireless LAN model, a network connection instead of USB could be tested as well.
An M2020W is not specifically mentioned in the About AirPrint article (the M2022W and M2026W are), but one should perhaps not completely rule out that it could support the driverless AirPrint technology anyway (if it does, drivers would not be needed, if the printer is connected to the same network as the Mac).
http://h10032.www1.hp.com/ctg/Manual/c05790048.pdf#G3.4668359