I would suspect an old print driver deigned for an older version of Windows that is not playing nice as this printer is older. The good thing about these SMB class LaserJets is the processors can do the processing without a host dependency, so you can easily use the HP UPD, or a generic driver :-). In some cases, it does come with Windows but it’s usually a really dated version or it isn’t quite right. As such, usually better to download it from HP and install, and not replace the built-in but add it to the driver list.
If you need to see how to install the driver to work this way, here's a guide on how to do it. The driver link is in the guide.
There is no way around it - you need to configure the printer manually to make this work right, as the other modes are touch and go in many cases.
Your printer is new enough to ship with the PCL6 personality in firmware, so you should be set to use the PCL6 driver - which is best for PCL6 machines. If it doesn’t work, the PCL5e driver is an option. You may need to use the DOT4 port, but I never tested this model so try USB_001 and then if that fails it’s a DOT4 required printer.