Did you have 16.04 and 18.04 on your computer at the same time? I only installed 20.04 on mine and no other Ubuntu version. Indeed, I reinstalled it today to start with a clean slate with regards to a printer installation using HPLIP 3.20.3, adding Cinnamon and LXDE as I went along.
Which brings me to a clue that might interest you. When I plugged my printer into an USB port after the reinstallation, the 'system-config-printer' program detected it as a network printer, signalling that it is connected to localhost, but when I went to localhost:631 and pressed the "Find New Printers" button, the aforementioned 'No Printers Found' error message appeared. Also, when I clicked on the "Add Printer" button, this came up:
http://localhost:631 is requesting your username and password. The site says: "CUPS"
Perhaps using my printer as a Network printer might be an avenue I can pursue? I could devise my own username and password in the process. I was using the Cinnamon desktop environment at the time I plugged the printer into the USB port if it matters. Also, when I click on the "Manage Printers" button, my printer does show up.
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