Thank you for your advice it solved my issue.
Previously I had tried printing using all 3 browsers, and tried to print the document as a PDF within Preview. Each time the document printed the garbled characters.
Per your instructions I looked for a printer firmware update via the HP.com website for HP LaserJet Pro M201dw, but was unable to find one; however, I followed the instructions to have the printer itself check for an available update over the WiFi connection. Voila!, it did find one and after installing Firmware Datecode: 20200619 I was able to print the web page, https://support.apple.com/en-us/HT201736 perfectly.
Thank you