Thanks for the suggestions @BeemerBiker
The first video showed me how to get to the hidden support menu and suggested doing three semi-full resets which I've tried without success.
There is apparently a risky full reset procedure that involves removing the battery, but I can't find instructions on how to do this.
The second video suggests using the "Trade at OOBE" system configuration setting to enable trade supplies. I went ahead and did this then restarted the printer for good measure, but this did not resolve the problem.
I am actually using third party cartridges but I don't think this is the cause of the problem since the printer works for test pages. I'd hesitate to buy new HP cartridges unless there was good evidence that the third party cartridges caused this problem.
Is it possible that this problem is caused by a hardware failure?