Hi,
The latest (February 08, 2023, en-us edition) About AirPrint - Apple Support only lists the HP ENVY 6020 All-In-One Printer (no e), whereas the HP ENVY 6020e All-In-One Printer appeared in the July 01, 2022 edition. This may or may not be important, since the e models possibly could be linked to some kind of extra ink-related service (maybe requiring HP Smart and an always active Internet connection).
Assuming that HP Smart is only needed for some initial setup purposes, you may want to check whether a normal AirPrint connection without this app would work. The general condition would be that the printer and the iPad are connected to the same network (Wi-Fi router).
Use AirPrint to print from your iPhone or iPad - Apple Support
If necessary, try a full power-cycle sequence (including the router): Power off the router, the printer, the iPad, and all other connected devices/computers. Wait two to three minutes, Power on the router. Wait two to three minutes. Power on the printer. Wait a minute or two. Power on the iPad and all other devices/computers.