See:
Apple AirPrint is a driverless connection protocol. A high proportion of modern printers intended for Home, SoHo and Business environments now support AirPrint. Check your printer model against this list:
About AirPrint - Apple Support
HP offer the following guidance:
https://support.hp.com/ph-en/document/ish_1946968-1947068-16
When using AirPrint, the available print options - including selection of colour, page size and scaling - are advertised by your printer. When using the print dialogue on your iPad, you can only select from the advertised options. Some older printers may require a firmware update to work properly with recent iOS/iPadOS versions.
If you are experiencing difficulties with AirPrint, you may find that you can continue to print using the HP Smart App:
https://apps.apple.com/app/hp-smart/id469284907
Otherwise, you may need to seek assistance directly from HP Support.