The 8020 actually just uses the AirPrint driver built into macOS Catalina. If you already have the printer on your network you can simply add the printer in Printers & Scanners and select Secure AirPrint or AirPrint as the driver.
Add the printer to your list of available printers: Choose Apple menu then System Preferences, then
Printers & Scanners. If you don’t see your printer listed on the left, click the Add "+" button at the bottom of the list. A dialogue appears listing printers on your local network. It may take a minute or two for your printer to appear. Select your printer when it appears in the list, then select Secure AirPrint.

Finally click Add.
While I may work for HP Inc, the views and opinions expressed here are my own.