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Unfortunately, printing through VPN connections just will not work based on the Printer Does Not Maintain Wireless Connection document from HP which would explain why it prints at work instead of on the home printer.
However, your printer is ePrint capable.
Have you received an @hpeprint.com address for your printer and registered the printer at www.eprintcenter.com?
ePrint prints by emailing what you want printed directly to the printer from just about any email capable device as long as the printer has an active Internet connection and ePrint has been setup.
