In my case, I was experiencing the same issues with a fresh install of
20.04[1], for HP PhotoSmart 5520 (MFD).

I was generally able to print, it was a bit more finicky than it had
been previously, however scanning didn't work. Simple Scan noted an
error message about being unable to communicate with the device.

Running hp-doctor, or hp-check -t resulted the in getting same list of
'Missing Required Dependencies' as the OP did.

After doing a bit of digging, I did the following:

* Purged all HPLIP packages [2], e.g.

sudo apt-get purge hplip hplip-data hplip-doc hplip-gui hpijs-ppds \
libsane-hpaio printer-driver-hpcups printer-driver-hpijs
sudo rm -rf /usr/share/hplip/

sudo apt-get autoremove

* Reinstalled the HPLIP packages from the repos (after having a failed
run of the Automated Installer available on HP's website) [3]

sudo apt-get install hplip hplip-gui

After that, both printing and scanning worked without issue.

Interestingly enough, running hp-doctor notes the same 'Missing Required
Dependencies' as it did previously.


[1] Regolith Linux, https://regolith-linux.org/
[2] 
https://askubuntu.com/questions/1056077/how-to-install-latest-hplip-on-my-ubuntu-to-support-my-hp-printer-and-or-scanner
[3] 
https://askubuntu.com/questions/1137815/how-to-install-hplip-on-my-ubuntu-to-support-my-hp-printer-and-or-scanner

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https://bugs.launchpad.net/bugs/1881401

Title:
  HPLIP, hp-doctor, hp-check should support Ubuntu 20.04 LTS with its
  package base

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