It is possible the printer is wearing out and unable to do what it ought.
If you have not done so,
You can try different paper - paper can be too dry, too damp, curled, bent at the corners, too thin...
You could try reinstalling the software - this is not the "official" recommended fix, but it might help, emphasis on might.
Sometimes we don't have a better answer than the one provided by the HP documents:
If all else fails, "Service the Printer".
That said, if you cannot correct the problem, it is perhaps more reasonable for a printer this age to simply replace it when you can do so.
Printer Home Page - References and Resources –Learn about your Printer - Solve Problems
“Things that are your printer”
NOTE: Content depends on device type and Operating System
Categories: Alerts, Access to thePrint and Scan Doctor(Windows), Warranty Check, HP Drivers / Software / Firmware Updates, How-to Videos, Bulletins/Notices, Lots of How-to Documents, Troubleshooting, User Guides / Manuals, Product Information (Specifications), more
When the website support page opens, Select (as available) aCategory>Topic >Subtopic
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