Hi,
Regarding the Samsung ML-2010, the latest printer drivers on the HP (Samsung printers are now part of HP) support pages are for Mac OS X 10.7 Lion.
This means that you probably would have to carry out a series of experiments in an attempt to find a working driver for macOS 12 Monterey (or newer). It may not work at all.
A discussion Samsung ML-1860 and latest MacOS - Apple Community shows a workaround when printer drivers in the package download Samsung Printer Drivers v2.6 for OS X cannot be installed. A driver for an ML-2010 is not listed in the article Printer and scanner drivers for Mac - Apple Support, but a very old discussion [printer] Samsung ML-2010 [RESOLVED] - Apple Community seems to indicate that it may be worth testing a Samsung ML-2240 Series driver (which is listed) as a substitute.
Another experiment could possibly include the V3.93.06 (Monterey) version of a Samsung universal driver https://ftp.hp.com/pub/softlib/software13/printers/SS/Print_Common_SW/Samsung_Mac_Driver_V3.93.06.dmg . The idea would be to try to choose one of the other models mentioned there.
You may have to reset the printing system between tests.
Reset the printing system on your Mac to solve a problem – Apple Support (UK)
Add a printer to your printer list so you can use it on Mac – Apple Support (UK)
As always, make sure that you have backup copies of all important files before testing anything. Software conflicts cannot be ruled out.