Hi,
The HP Officejet Pro 8100 does not appear to be a model supporting the driverless AirPrint technology, so it would probably be correct to assume that drivers are needed.
To begin with, it may be a good idea to reset the printing system. Does the operating system offer a suitable driver to use?
Reset the Mac printing system to solve a problem - Apple Support
Add a printer on Mac - Apple Support
If necessary, you could try the (Post Date: Dec 11, 2020) HP Printer Drivers v5.1 for macOS (https://support.apple.com/kb/DL1888?viewlocale=en_US&locale=en_US) package download from Apple. Once open, look for and try something like the HP Officejet Pro 8100 version 4.1.1 driver listed in the Printer and scanner drivers for Mac - Apple Support article.
When testing drivers, software conflicts cannot be ruled out. Make sure that you have backup copies of all important files (documents, photos, et cetera).
http://h10032.www1.hp.com/ctg/Manual/c02948312.pdf