How can I connect the Xerox Phaser 3020 printer to my MacBook Air M3?

The Xerox Phaser 3020BI is an AirPrint-enabled printer. No drivers are required.

To add an AirPrint printer follow the numbered instructions in About AirPrint - Apple Support.

I do not know if the Xerox Phaser 3020BI is the same as a Xerox Phaser 3020. You will need to consult that printer's documentation or other sources of information to determine its exact model designation.

FYI, there is an online copy of the printer's User Guide, with a page describing how to set up AirPrint.

Xerox Support – Phaser 3020 – Documentation