I'm using a 2020 Mini with an M1 chip, not a studio. That said, the difficulties printing directly from any OS more recent than Mojave are well documented on this forum.
HP says that it's drivers are updated to include Catalina and more recent versions, but I always got "Broken Pipe" errors when I sent more than one print to the Z3200s at a time. I wound up using a 2010 MPB as a print server.
I've got 2 identical 24" Non-PS Z3200-A printers. It may be those particular printers, but I don't think so. I print from Preview via the network and never tried a direct connection via USB.